ObjectFinder.H

00001 /*
00002  * ObjectFinder.H
00003  *
00004  *        Uses SIFT/SURF? to find specified images in a camera feed.
00005  */
00006 #include "Component/ModelManager.H"
00007 #include "Component/OptionManager.H"
00008 #include "Component/ModelComponent.H"
00009 #include "Component/ModelParam.H"
00010 
00011 #include "Robots/BeoHawk/vision/VisionBrainComponentI.H"
00012 #include "Image/Image.H"
00013 #include "Image/Pixels.H"
00014 
00015 #include "Ice/RobotBrainObjects.ice.H"
00016 #include "Robots/BeoHawk/BeoHawkSimEvents.ice.H"
00017 #include "Ice/RobotSimEvents.ice.H"
00018 #include "Ice/IceImageUtils.H"
00019 #include <IceUtil/Thread.h>
00020 
00021 #ifndef OBJECTFINDER_H_
00022 #define OBJECTFINDER_H_
00023 
00024 class ObjectFinder : public VisionBrainComponentI {
00025 
00026 public:
00027         ObjectFinder(OptionManager &mgr,
00028                         const std::string &descrName = "ObjectFinder",
00029                         const std::string &tagName = "ObjectFinder");
00030         virtual ~ObjectFinder();
00031 
00032         virtual void registerTopics();
00033         virtual void updateFrame(Image<PixRGB<byte> > img, bool isFwdCamera);
00034         void buildFeatureDB();
00035 
00036 private:
00037         OModelParam<std::string> imagesDir;
00038         FastFeatureDB featureDB;
00039 
00040 
00041 
00042 };
00043 
00044 #endif /* OBJECTFINDER_H_ */