test-PingSonar.C

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00001  /*!@file AppDevices/test-PingSonar.C test the ping sonar device  */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // University of Southern California (USC) and the iLab at USC.         //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: farhan baluch <fbaluch@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/AppDevices/test-PingSonar.C $
00035 // $Id: test-PingSonar.C 12962 2010-03-06 02:13:53Z irock $
00036 //
00037 
00038 #include "Component/ModelManager.H"
00039 #include "Devices/PingSonar.H"
00040 #include "Util/log.H"
00041 #include "Util/Types.H"
00042 #include "Util/sformat.H"
00043 #include "Image/DrawOps.H"
00044 #include "Media/FrameSeries.H"
00045 #include "Transport/FrameInfo.H"
00046 #include "Raster/GenericFrame.H"
00047 
00048 #include <stdio.h>
00049 #include <cstring>
00050 #include <cstdlib>
00051 
00052 // ######################################################################
00053 //! Visualize distance received from sensor
00054 Image<PixRGB<byte> > vizDist(std::vector<int> dists,int divisions)
00055 {
00056 
00057     Image<PixRGB<byte> > img(800,800,ZEROS);
00058     int startAng = 0;
00059     int increment = 180/dists.size();
00060     int beginAng=startAng, endAng=increment;
00061 
00062     for(uint s=0;s<dists.size();s++)
00063     {
00064 
00065         for(int i=1; i<=divisions;i++)
00066             for (int ang=beginAng;ang<=endAng;ang++)
00067             {
00068                 int rad = i*5;
00069                 Point2D<int> pt;
00070                 pt.i = 200+100*s - (int) (rad*cos(ang*M_PI/180.0));
00071                 pt.j = 400 - (int) (rad*sin(ang*M_PI/180.0));
00072 
00073                 if(dists.at(s) <= i*250)
00074                     drawPoint(img,pt.i,pt.j,PixRGB<byte>(255,0,0));
00075                 else
00076                     drawPoint(img,pt.i,pt.j,PixRGB<byte>(0,0,255));
00077 
00078                 writeText(img,Point2D<int>(10,10),sformat(" %d ",dists.at(s)).c_str(),
00079                           PixRGB<byte>(255),PixRGB<byte>(0));
00080 
00081             }
00082         beginAng = endAng;
00083         endAng = endAng + increment;
00084     }
00085 
00086      return img;
00087 
00088 }
00089 
00090 
00091 // ######################################################################
00092 
00093 int main(int argc, const char **argv)
00094 {
00095   // Instantiate a ModelManager:
00096   ModelManager manager("Test Ping Sonar");
00097 
00098   nub::ref<OutputFrameSeries> ofs(new OutputFrameSeries(manager));
00099   manager.addSubComponent(ofs);
00100 
00101   // Instantiate our various ModelComponents:
00102   nub::soft_ref<PingSonar> pingSonar(new PingSonar(manager,"PingSonar",
00103                                                    "PingSonar","/dev/ttyUSB0",3));
00104   manager.addSubComponent(pingSonar);
00105 
00106   // Parse command-line:
00107   if (manager.parseCommandLine(argc, argv,"", 0, 0) == false) return(1);
00108 
00109   // let's get all our ModelComponent instances started:
00110   manager.start();
00111 
00112   Image<PixRGB<byte> > img(800,800,ZEROS);
00113   int divisions=12;
00114 
00115   while(1)
00116   {
00117 
00118       std::vector<int> dists = pingSonar->getDists();
00119 
00120       ofs->writeRGB(vizDist(dists,divisions), "Output", FrameInfo("output", SRC_POS));
00121 
00122 
00123     }
00124 
00125 
00126   // stop all our ModelComponents
00127   manager.stop();
00128 
00129   // all done!
00130   return 0;
00131 }
00132 
00133 // ######################################################################
00134 /* So things look consistent in everyone's emacs... */
00135 /* Local Variables: */
00136 /* indent-tabs-mode: nil */
00137 /* End: */
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