beobot-GSnav.C File Reference

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Detailed Description

Robot navigation using saliency and gist. Run beobot-GSnav-master at CPU_A to run Gist-Saliency model Run beobot-GSnav at CPU_B to run SIFT

Definition in file beobot-GSnav.C.

#include "Beowulf/Beowulf.H"
#include "Component/ModelManager.H"
#include "Raster/Raster.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "GUI/XWinManaged.H"
#include "Util/Timer.H"
#include "Beobot/BeobotControl.H"
#include "SIFT/VisualObject.H"
#include "SIFT/VisualObjectDB.H"
#include "SIFT/Histogram.H"
#include "Image/MathOps.H"
#include "Image/CutPaste.H"
#include "Image/DrawOps.H"
#include "Image/ShapeOps.H"
#include "Image/MatrixOps.H"
#include "Beobot/beobot-GSnav-def.H"
#include "Beobot/GSnavResult.H"
#include "Beobot/Environment.H"
#include "Beobot/GSlocalizer.H"
#include <signal.h>

Include dependency graph for beobot-GSnav.C:

Go to the source code of this file.

Functions
void	getSearchCommand (TCPmessage &rmsg, int32 rframe, int32 raction, bool &resetVentralSearch, Image< PixRGB< byte > > &ima, Image< double > &cgist, std::vector< rutz::shared_ptr< VisualObject > > &inputVO, std::vector< Point2D< int > > &objOffset, std::string saveFilePath, std::string testRunFPrefix, float &dx, float &dy, uint &snumGT, float &ltravGT)
	process the message passed by Visual Cortex
Image< PixRGB< byte > >	getSalImage (Image< PixRGB< byte > > ima, std::vector< rutz::shared_ptr< VisualObject > > inputVO, std::vector< Point2D< int > > objOffset, std::vector< bool > found)
	display the salient objects passed by Visual Cortex program
Image< PixRGB< byte > >	processLocalizerResults (nub::ref< GSlocalizer > gslocalizer, std::string savePrefix)
	process the returned search result
Image< PixRGB< byte > >	getDisplayImage (nub::ref< GSlocalizer > gslocalizer)
bool	saveGist (std::string saveFilePath, std::string testRunFPrefix, int currSegNum, int count, Image< double > cgist)
	save gist vector to a file
void	reportResults (std::string savePrefix, uint nsegment)
	report the results of the trial run
void	reportTrialResults ()
void	terminate (int s)
	Signal handler (e.g., for control-C).
int	main (const int argc, const char **argv)
Variables
static bool	goforever = true
	Will turn false on interrupt signal.

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Function Documentation

Image< PixRGB< byte > > getSalImage (  Image< PixRGB< byte > >  ima, std::vector< rutz::shared_ptr< VisualObject > >  inputVO, std::vector< Point2D< int > >  objOffset, std::vector< bool >  found )

display the salient objects passed by Visual Cortex program Definition at line 526 of file beobot-GSnav.C. References drawDisk(), drawRect(), Image< T >::getHeight(), getImage(), Image< T >::getWidth(), h, i, inplacePaste(), LDEBUG, sformat(), Image< T >::size(), w, writeText(), and ZEROS. Referenced by getDisplayImage().

void getSearchCommand (  TCPmessage &  rmsg, int32  rframe, int32  raction, bool &  resetVentralSearch, Image< PixRGB< byte > > &  ima, Image< double > &  cgist, std::vector< rutz::shared_ptr< VisualObject > > &  inputVO, std::vector< Point2D< int > > &  objOffset, std::string  saveFilePath, std::string  testRunFPrefix, float &  dx, float &  dy, uint &  snumGT, float &  ltravGT )

process the message passed by Visual Cortex Definition at line 565 of file beobot-GSnav.C. References Image< T >::clear(), convertToString(), crop(), features, TCPmessage::getElementColByteIma(), TCPmessage::getElementDouble(), TCPmessage::getElementFloat(), TCPmessage::getElementInt32(), Image< T >::getHeight(), Image< T >::getWidth(), i, LDEBUG, Rectangle::left(), NO_INIT, TCPmessage::reset(), sformat(), Rectangle::tlbrO(), and Rectangle::top(). Referenced by main().

Image< PixRGB< byte > > processLocalizerResults (  nub::ref< GSlocalizer >  gslocalizer, std::string  savePrefix )

process the returned search result Definition at line 645 of file beobot-GSnav.C. References Timer::get(), getDisplayImage(), getDistance(), i, Dlist::index(), LDEBUG, LFATAL, LINFO, Timer::reset(), sformat(), and Raster::WriteRGB(). Referenced by main().

void reportResults (  std::string  savePrefix, uint  nsegment )

report the results of the trial run

void reportTrialResults (   )

report the results of all the trial runs it's a hack code Definition at line 849 of file beobot-GSnav.C. References i, LINFO, and sformat().

bool saveGist (  std::string  saveFilePath, std::string  testRunFPrefix, int  currSegNum, int  count, Image< double >  cgist )

save gist vector to a file Definition at line 812 of file beobot-GSnav.C. References Image< T >::beginw(), Image< T >::endw(), LINFO, and lobot::stop().

void terminate (  int  s  )

Signal handler (e.g., for control-C). Definition at line 181 of file beobot-GSnav.C. References goforever, and LERROR.

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Variable Documentation

bool goforever = true [static]

Will turn false on interrupt signal. Definition at line 141 of file beobot-GSnav.C.

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