app-FaceDetection.C

00001 /*!@file Robots/Beobot2/HumanRobotInteraction/app-FaceDetection ICE module
00002 for face detection  */
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2002   //
00005 // by the 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: Dicky Sihite <sihite@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/Beobot2/HumanRobotInteraction/app-FaceDetection.C $
00035 // $Id: app-FaceDetection.C 13902 2010-09-09 15:31:09Z lior $
00036 //
00037 
00038 #include "Robots/Beobot2/HumanRobotInteraction/FaceDetector.H"
00039 #include "Component/ModelManager.H"
00040 #include "Component/ModelComponent.H"
00041 #include "Component/ModelOptionDef.H"
00042 
00043 #include <Ice/Ice.h>
00044 #include <Ice/Service.h>
00045 #include "Ice/RobotSimEvents.ice.H"
00046 #include "Ice/SimEventsUtils.H"
00047 #include "Ice/IceImageUtils.H"
00048 #include "Ice/RobotBrainObjects.ice.H"
00049 
00050 #include "Image/OpenCVUtil.H"
00051 
00052 // ######################################################################
00053 // ######################################################################
00054 class RobotBrainServiceService : public Ice::Service {
00055   protected:
00056     virtual bool start(int, char* argv[]);
00057     virtual bool stop() {
00058       if (itsMgr)
00059         delete itsMgr;
00060       return true;
00061     }
00062 
00063   private:
00064     Ice::ObjectAdapterPtr itsAdapter;
00065     ModelManager *itsMgr;
00066 };
00067 
00068 // ######################################################################
00069 bool RobotBrainServiceService::start(int argc, char* argv[])
00070 {
00071   MYLOGVERB = LOG_INFO;
00072 
00073   char adapterStr[255];
00074 
00075   //Create the adapter
00076   int port = RobotBrainObjects::RobotBrainPort;
00077   bool connected = false;
00078 
00079   // try to connect to ports until successful
00080   LDEBUG("Opening Connection");
00081   while(!connected)
00082   {
00083     try
00084     {
00085       LINFO("Trying Port:%d", port);
00086       sprintf(adapterStr, "default -p %i", port);
00087       itsAdapter = communicator()->createObjectAdapterWithEndpoints
00088         ("BeoLogger", adapterStr);
00089       connected = true;
00090     }
00091     catch(Ice::SocketException)
00092     {
00093       port++;
00094     }
00095   }
00096 
00097   //Create the manager and its objects
00098   itsMgr = new ModelManager("FaceDetectionService");
00099 
00100   LINFO("Starting FaceDetection System");
00101   nub::ref<FaceDetector>
00102     faceDet(new FaceDetector(*itsMgr, "FaceDetector", "FaceDetector"));
00103   LINFO("FaceDetector created");
00104   itsMgr->addSubComponent(faceDet);
00105   LINFO("Face Detector Added As a subcomponent");
00106   faceDet->init(communicator(), itsAdapter);
00107   LINFO("Face Detector initiated");
00108 
00109   // check command line inputs/options
00110   if (itsMgr->parseCommandLine (argc, argv, "", 0, 0) == false) return(1);
00111 
00112   // activate manager and adapter
00113   itsAdapter->activate();
00114   itsMgr->start();
00115 
00116   return true;
00117 }
00118 
00119 // ######################################################################
00120 int main(int argc, char** argv) {
00121 
00122   RobotBrainServiceService svc;
00123   return svc.main(argc, argv);
00124 }
00125 
00126 // ######################################################################
00127 /* So things look consistent in everyone's emacs... */
00128 /* Local Variables: */
00129 /* indent-tabs-mode: nil */
00130 /* End: */
00131 
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