GSlocalizer Class Reference

#include <Beobot/GSlocalizer.H>

Inheritance diagram for GSlocalizer:

Collaboration diagram for GSlocalizer:

Public Member Functions
Constructors and Destructors

	GSlocalizer (OptionManager &mgr, const std::string &descrName="Gist and Saliency localizer", const std::string &tagName="GSlocalizer")
	Constructor.
virtual	~GSlocalizer ()
	Destructor.
void	setSavePrefix (std::string prefix)
	set the prefix of file to save data - has to be done
void	setEnvironment (rutz::shared_ptr< Environment > env)
	set the environment - has to be done
Access functions

uint	getNumObjectSearch (uint index)
	get number of objects compared in the search
rutz::shared_ptr< Environment >	getEnvironment ()
	get the environment information
void	setWindow (rutz::shared_ptr< XWinManaged > inputWin)
	set the window to display results
void	setBeoWulf (nub::soft_ref< Beowulf > beo)
	set beowulf access
Image< PixRGB< byte > >	getInputImage ()
	get the input image
uint	getNumInputObject ()
	get the number of objects inputted
rutz::shared_ptr< VisualObject >	getInputVO (uint index)
	get the visual object that we try to match
Image< double >	getInputGist ()
	get the input gist
rutz::shared_ptr < VisualObjectMatch >	getVOmatch (uint index)
	get the visual object match for the found object
uint	getSegmentNumberMatch (uint index)
	get the segment number of the object match found
float	getLengthTraveledMatch (uint index)
	get the length traveled of the object match found
Point2D< int >	getInputObjOffset (uint index)
int	getInputFnum ()
	get the last input frame number
int	getSearchInputFnum ()
	get the last input frame number where search is started
rutz::shared_ptr< Histogram >	getSegmentHistogram ()
	get the segment histogram from the segment classifier
Point2D< int >	getLocation ()
	get our geographical location
uint	getSegmentLocation ()
	get our segment location
float	getSegmentLengthTraveled ()
	get the length traveled within the segment
void	setGroundTruth (uint snum, float ltrav)
	set ground truth
void	getGroundTruth (uint &snum, float &ltrav)
	get ground truth
member functions

void	initParticles (std::string belFName=std::string(""))
	initialize the localization particles
std::vector< GSparticle >	getBeliefParticles ()
	get the belief particles (usually for recovering crashes)
bool	outputReady ()
	check if the serach is finished
bool	isMatchFound (uint index)
	return the result of the matching search
void	input (Image< PixRGB< byte > > ima, std::vector< rutz::shared_ptr< VisualObject > > inputVO, std::vector< Point2D< int > > inputObjOffset, int inputFnum, Image< double > cgist, float dx=-1.0F, float dy=-1.0F)
rutz::shared_ptr< Histogram >	getSegmentBeliefHistogram ()
	the belief histogram for segment only localization
void	threadCompute ()
	For internal thread use: Compute a conspicuity map from an image.
void	stopSearch ()
void	stopSearch2 ()
void	updateBelief ()
void	actionUpdateBelief ()
	move the object from the previous location
void	segmentUpdateBelief ()
	update belief using the segment prediction
void	objectUpdateBelief ()
	update belief using all the objects found
void	objectUpdateBelief (uint index)
	update belief using object 'index'
void	setLocation ()
	set the most likely location
Image< PixRGB< byte > >	getBeliefImage (uint w, uint h, int &scale)
	get the belief image (it is put on top of a map)
Image< PixRGB< byte > >	getMatchImage (uint index, Dims d)
	get the match image
Point2D< int >	getMotorSignal ()
	get motor signal
Protected Member Functions
void	start1 ()
	get started
void	stop2 ()
	get stopped

Detailed Description

Thread with localizer, Object database, search priority list takes in salient object and gist vector as input

Definition at line 108 of file GSlocalizer.H.

Constructor & Destructor Documentation

GSlocalizer::GSlocalizer	(	OptionManager &	mgr,
		const std::string &	descrName = `"Gist and Saliency localizer"`,
		const std::string &	tagName = `"GSlocalizer"`
	)

Constructor.

Definition at line 71 of file GSlocalizer.C.

References rutz::shared_ptr< T >::reset().

GSlocalizer::~GSlocalizer ( ) [virtual]

Destructor.

Definition at line 169 of file GSlocalizer.C.

Member Function Documentation

void GSlocalizer::actionUpdateBelief ( )

move the object from the previous location

Definition at line 1034 of file GSlocalizer.C.

References getLocation(), log(), and sqrt().

Image< PixRGB< byte > > GSlocalizer::getBeliefImage	(	uint	w,
		uint	h,
		int &	scale
	)

get the belief image (it is put on top of a map)

Definition at line 1448 of file GSlocalizer.C.

References drawCircle(), drawDisk(), flipHoriz(), Image< T >::getHeight(), getSegmentBeliefHistogram(), Image< T >::getWidth(), Point2D< T >::i, inplacePaste(), transpose(), Dims::w(), and ZEROS.

std::vector< GSparticle > GSlocalizer::getBeliefParticles ( )

get the belief particles (usually for recovering crashes)

Definition at line 236 of file GSlocalizer.C.

rutz::shared_ptr< Environment > GSlocalizer::getEnvironment ( )

get the environment information

Definition at line 114 of file GSlocalizer.C.

void GSlocalizer::getGroundTruth	(	uint &	snum,
		float &	ltrav
	)

get ground truth

Definition at line 524 of file GSlocalizer.C.

int GSlocalizer::getInputFnum ( )

get the last input frame number

Definition at line 372 of file GSlocalizer.C.

Referenced by threadCompute().

Image< double > GSlocalizer::getInputGist ( )

get the input gist

Definition at line 337 of file GSlocalizer.C.

Image< PixRGB< byte > > GSlocalizer::getInputImage ( )

get the input image

Definition at line 313 of file GSlocalizer.C.

Point2D< int > GSlocalizer::getInputObjOffset ( uint index )

get the object offset of the visual object that we try to match

Definition at line 348 of file GSlocalizer.C.

References ASSERT.

rutz::shared_ptr< VisualObject > GSlocalizer::getInputVO ( uint index )

get the visual object that we try to match

Definition at line 325 of file GSlocalizer.C.

References ASSERT.

float GSlocalizer::getLengthTraveledMatch ( uint index )

get the length traveled of the object match found

Definition at line 407 of file GSlocalizer.C.

References ASSERT.

Point2D< int > GSlocalizer::getLocation ( )

get our geographical location

Definition at line 1430 of file GSlocalizer.C.

Referenced by actionUpdateBelief(), objectUpdateBelief(), and segmentUpdateBelief().

Image< PixRGB< byte > > GSlocalizer::getMatchImage	(	uint	index,
		Dims	d
	)

get the match image

Definition at line 1500 of file GSlocalizer.C.

References ASSERT.

Point2D< int > GSlocalizer::getMotorSignal ( )

get motor signal

motor signal can be used (using PID, for example) to obtain motor command. Motor signal is a delta signal (in image coordinate) of where the robot should go to get to the goal state.

Definition at line 1531 of file GSlocalizer.C.

uint GSlocalizer::getNumInputObject ( )

get the number of objects inputted

Definition at line 319 of file GSlocalizer.C.

Referenced by threadCompute().

uint GSlocalizer::getNumObjectSearch ( uint index )

get number of objects compared in the search

Definition at line 414 of file GSlocalizer.C.

References ASSERT.

Referenced by threadCompute().

int GSlocalizer::getSearchInputFnum ( )

get the last input frame number where search is started

Definition at line 383 of file GSlocalizer.C.

Referenced by threadCompute().

rutz::shared_ptr< Histogram > GSlocalizer::getSegmentBeliefHistogram ( )

the belief histogram for segment only localization

print the histogram profile

Definition at line 253 of file GSlocalizer.C.

Referenced by getBeliefImage().

rutz::shared_ptr< Histogram > GSlocalizer::getSegmentHistogram ( )

get the segment histogram from the segment classifier

Definition at line 394 of file GSlocalizer.C.

float GSlocalizer::getSegmentLengthTraveled ( )

get the length traveled within the segment

Definition at line 1442 of file GSlocalizer.C.

uint GSlocalizer::getSegmentLocation ( )

get our segment location

Definition at line 1436 of file GSlocalizer.C.

uint GSlocalizer::getSegmentNumberMatch ( uint index )

get the segment number of the object match found

Definition at line 400 of file GSlocalizer.C.

References ASSERT.

rutz::shared_ptr< VisualObjectMatch > GSlocalizer::getVOmatch ( uint index )

get the visual object match for the found object

Definition at line 360 of file GSlocalizer.C.

References ASSERT.

void GSlocalizer::initParticles ( std::string belFName = std::string("") )

initialize the localization particles

Definition at line 179 of file GSlocalizer.C.

References Point2D< T >::i, and Raster::waitForKey().

void GSlocalizer::input	(	Image< PixRGB< byte > >	ima,
		std::vector< rutz::shared_ptr< VisualObject > >	inputVO,
		std::vector< Point2D< int > >	inputObjOffset,
		int	inputFnum,
		Image< double >	cgist,
		float	dx = `-1.0F`,
		float	dy = `-1.0F`
	)