beobot-GSnav-dorsal.C File Reference

---

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-dorsal.C.

#include "Beowulf/Beowulf.H"
#include "Component/ModelManager.H"
#include "Raster/Raster.H"
#include "GUI/XWinManaged.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "Util/Timer.H"
#include "Beobot/beobot-GSnav-def.H"
#include "Beobot/BeobotBrainMT.H"
#include <signal.h>
#include "Image/OpenCVUtil.H"
#include "Image/ShapeOps.H"
#include "Image/CutPaste.H"
#include "Image/MathOps.H"
#include "Image/DrawOps.H"

Include dependency graph for beobot-GSnav-dorsal.C:

Go to the source code of this file.

Defines
#define	WINSIZE   7
#define	templThresh   2000.0F
Functions
void	getTrackCommand (TCPmessage &rmsg, int32 rframe, int32 rnode, int32 raction, ImageSet< float > &cmap, bool &resetCurrLandmark, std::vector< Point2D< int > > &clmpt, bool &resetNextLandmark, std::vector< Point2D< int > > &nlmpt)
	get the request sent by Visual Cortex
void	processTrackCommand (ImageSet< float > cmap, std::vector< ImageSet< float > > &clmbias, std::vector< Point2D< int > > &clmbiasOffset, std::vector< ImageSet< float > > &nlmbias, std::vector< Point2D< int > > &nlmbiasOffset, bool resetCurrLandmark, std::vector< Point2D< int > > &clmpt, std::vector< Point2D< int > > &prevClmptsc, bool resetNextLandmark, std::vector< Point2D< int > > &nlmpt, std::vector< Point2D< int > > &prevNlmptsc, rutz::shared_ptr< XWinManaged > dispWin)
	process the request of the Visual Cortex
void	setupTrackingResultPacket (TCPmessage &smsg, int rframe, std::vector< Point2D< int > > clmpt, std::vector< Point2D< int > > nlmpt)
	setup the tracking result packet to be sent to Visual Cortex
ImageSet< float >	setNewBias (Point2D< int > inTrackLoc, Point2D< int > &biasOffset, ImageSet< float > cmap, rutz::shared_ptr< XWinManaged > dispWin)
	resets the bias template to the region around the point passed
Point2D< int >	trackPoint (ImageSet< float > cmap, ImageSet< float > &bias, Point2D< int > biasOffset, Point2D< int > trackLoc, rutz::shared_ptr< XWinManaged > dispWin)
	track the object at the point
void	updateTemplate (Point2D< int > upLeft, ImageSet< float > cmap, ImageSet< float > &bias, rutz::shared_ptr< XWinManaged > dispWin)
	update the template used for tracking
Image< float >	getBiasedSMap (ImageSet< float > cmap, ImageSet< float > bias, rutz::shared_ptr< XWinManaged > dispWin)
	get the biased saliency map for tracking
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.

---

Function Documentation

Image< float > getBiasedSMap (  ImageSet< float >  cmap, ImageSet< float >  bias, rutz::shared_ptr< XWinManaged >  dispWin )

get the biased saliency map for tracking Definition at line 618 of file beobot-GSnav-dorsal.C. References h, i, img2ipl(), LFATAL, NUM_CHANNELS, w, WINSIZE, and ZEROS. Referenced by trackPoint().

void getTrackCommand (  TCPmessage &  rmsg, int32  rframe, int32  rnode, int32  raction, ImageSet< float > &  cmap, bool &  resetCurrLandmark, std::vector< Point2D< int > > &  clmpt, bool &  resetNextLandmark, std::vector< Point2D< int > > &  nlmpt )

get the request sent by Visual Cortex Definition at line 308 of file beobot-GSnav-dorsal.C. References TCPmessage::getElementFloatImaSet(), TCPmessage::getElementInt32(), i, LINFO, and TCPmessage::reset(). Referenced by main().

void processTrackCommand (  ImageSet< float >  cmap, std::vector< ImageSet< float > > &  clmbias, std::vector< Point2D< int > > &  clmbiasOffset, std::vector< ImageSet< float > > &  nlmbias, std::vector< Point2D< int > > &  nlmbiasOffset, bool  resetCurrLandmark, std::vector< Point2D< int > > &  clmpt, std::vector< Point2D< int > > &  prevClmptsc, bool  resetNextLandmark, std::vector< Point2D< int > > &  nlmpt, std::vector< Point2D< int > > &  prevNlmptsc, rutz::shared_ptr< XWinManaged >  dispWin )

process the request of the Visual Cortex Definition at line 351 of file beobot-GSnav-dorsal.C. References ImageSet< T >::clear(), dispWin, i, LFATAL, LINFO, ImageSet< T >::push_back(), setNewBias(), ImageSet< T >::size(), and sml. Referenced by main().

ImageSet< float > setNewBias (  Point2D< int >  inTrackLoc, Point2D< int > &  biasOffset, ImageSet< float >  cmap, rutz::shared_ptr< XWinManaged >  dispWin )

resets the bias template to the region around the point passed Definition at line 456 of file beobot-GSnav-dorsal.C. References crop(), h, i, Point2D< T >::i, Point2D< T >::j, LINFO, NUM_CHANNELS, target, w, and WINSIZE. Referenced by processTrackCommand().

void setupTrackingResultPacket (  TCPmessage &  smsg, int  rframe, std::vector< Point2D< int > >  clmpt, std::vector< Point2D< int > >  nlmpt )

setup the tracking result packet to be sent to Visual Cortex Definition at line 433 of file beobot-GSnav-dorsal.C. References TCPmessage::addInt32(), i, LINFO, TCPmessage::reset(), ImageSet< T >::size(), and TRACK_LM_RES. Referenced by main().

void terminate (  int  s  )

Signal handler (e.g., for control-C). Definition at line 144 of file beobot-GSnav-dorsal.C. References goforever, and LERROR.

Point2D< int > trackPoint (  ImageSet< float >  cmap, ImageSet< float > &  bias, Point2D< int >  biasOffset, Point2D< int >  trackLoc, rutz::shared_ptr< XWinManaged >  dispWin )

track the object at the point Definition at line 513 of file beobot-GSnav-dorsal.C. References Image< T >::beginw(), dispWin, Point2D< T >::distance(), Image< T >::endw(), findMin(), getBiasedSMap(), Image< T >::getWidth(), h, i, sqrt(), lobot::stop(), updateTemplate(), w, x, and y.

void updateTemplate (  Point2D< int >  upLeft, ImageSet< float >  cmap, ImageSet< float > &  bias, rutz::shared_ptr< XWinManaged >  dispWin )

update the template used for tracking Definition at line 590 of file beobot-GSnav-dorsal.C. References crop(), distance(), i, LINFO, NUM_CHANNELS, target, templThresh, and WINSIZE. Referenced by trackPoint().

---

Variable Documentation

bool goforever = true [static]

Will turn false on interrupt signal. Definition at line 95 of file beobot-GSnav-dorsal.C.

---