test-BeoSub.C

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00001 /*!@file BeoSub/test-BeoSub.C Test BeoSub submarine basic functions */
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: Laurent Itti <itti@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/test-BeoSub.C $
00035 // $Id: test-BeoSub.C 8542 2007-07-07 21:20:07Z beobot $
00036 //
00037 
00038 #include "BeoSub/BeoSubOneBal.H"
00039 #include "Component/ModelManager.H"
00040 #include "SIFT/VisualObjectDB.H"
00041 
00042 //need current estimation stuff
00043 int main(const int argc, const char **argv)
00044 {
00045 
00046   // instantiate a model manager:
00047 
00048 
00049   ModelManager manager("BeoSub Main Action");
00050 
00051   // Instantiate our various ModelComponents:
00052   nub::soft_ref<BeoSubOneBal> sub(new BeoSubOneBal(manager));
00053   manager.addSubComponent(sub);
00054 
00055   //sub->LookForRedLight();
00056 
00057   sub->FollowPipeLine();
00058   //sub->ApproachPipeLine();
00059   //sub->TestBin(1);
00060   //sub->CenterBin();
00061   //sub->TaskB();
00062 
00063   /*
00064   // Parse command-line:
00065   if (manager.parseCommandLine(argc, argv, "", 0, 0) == false)
00066     return(1);
00067 
00068   // let's get all our Mode lComponent instances started:
00069   manager.start();
00070 
00071   LINFO("start");
00072 
00073   // wait for visual start:
00074   rutz::shared_ptr<VisualObjectDB> startdb(new VisualObjectDB());
00075   if (startdb->loadFrom("/home/vien/startdb/startdb.vdb"))
00076     {
00077       int count = 0; const int maxcount = 120;
00078       while(++count < maxcount)
00079         {
00080           LINFO("Waiting for start image... %d/%d", count, maxcount);
00081 
00082           Image< PixRGB<byte> > img = sub->grabImage(BEOSUBCAMDOWN);
00083           rutz::shared_ptr<VisualObject> vo(new VisualObject("Grab", "", img));
00084           std::vector< rutz::shared_ptr<VisualObjectMatch> > matches;
00085           const uint nmatches =
00086             startdb->getObjectMatches(vo, matches, VOMA_KDTREEBBF,
00087                                       5U, 0.5F, 0.5F, 0.4F, 3U, 7U);
00088           if (nmatches > 0)
00089             {
00090               LINFO("Found! Let's get started.");
00091               break;
00092             }
00093         }
00094     }
00095   else
00096     LERROR("Cannot load start DB -- no visual start");
00097 
00098  #if 0
00099   sub->turnAbs(127, true);
00100   #endif
00101   Angle my = 127;
00102   sub->turnRel(my-sub->getHeading());
00103   sub->useRotVelPID(true);
00104   // go through gate:
00105   LINFO("diving...");
00106   sub->useDepthPID(true);
00107   sub->diveAbs(1.4F, true);
00108 
00109   LINFO("advancing...");
00110   sub->advanceRel(25.0F, true); //GATE FIX
00111   sub->diveAbs(3.2);
00112   if(!sub->approachArea("src/BeoSub/database/down/taskAdown", BEOSUBCAMDOWN, 10.0)){
00113     if(!sub->approachArea("src/BeoSub/database/front/taskAfront", BEOSUBCAMFRONT, 10.0)){
00114 
00115     }
00116   }
00117   sub->TaskA();
00118 
00119   if(!sub->approachArea("src/BeoSub/database/down/taskBdown", BEOSUBCAMDOWN, 10.0)){
00120     if(!sub->approachArea("src/BeoSub/database/front/taskBfront", BEOSUBCAMFRONT, 10.0)){
00121 
00122     }
00123   }
00124   sub->TaskB();
00125 
00126   if(!sub->approachArea("src/BeoSub/database/down/taskCdown", BEOSUBCAMDOWN, 10.0)){
00127     if(!sub->approachArea("src/BeoSub/database/front/taskCfront", BEOSUBCAMFRONT, 10.0)){
00128 
00129     }
00130   }
00131   sub->TaskC();
00132 
00133   sub->diveAbs(-1.0);
00134   sleep(300);
00135   // stop all our ModelComponents
00136   manager.stop();
00137 
00138   // all done!
00139   return 0;
00140 */
00141 }
00142 
00143 // ######################################################################
00144 /* So things look consistent in everyone's emacs... */
00145 /* Local Variables: */
00146 /* indent-tabs-mode: nil */
00147 /* End: */
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