InferotemporalCortexI.H

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/*!@file InferotemporalCortexI.H get the object ID and position */

//////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
// University of Southern California (USC) and the iLab at USC.         //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Lior Elazary <lelazary@yahoo.com>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/RobotBrain/InferotemporalCortexI.H $
// $Id: InferotemporalCortexI.H 12281 2009-12-17 09:00:36Z itti $
//

#ifndef InferotemporalCortex_H_DEFINED
#define InferotemporalCortex_H_DEFINED

#include "Component/ModelComponent.H"
#include "Component/ModelParam.H"
#include "Media/FrameSeries.H"
#include "Transport/FrameInfo.H"
#include "Raster/GenericFrame.H"
#include "Image/Image.H"
#include "GUI/XWinManaged.H"
#include "GUI/ImageDisplayStream.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "SIFT/ScaleSpace.H"
#include "SIFT/VisualObject.H"
#include "SIFT/Keypoint.H"
#include "SIFT/VisualObjectDB.H"

#include "Ice/RobotBrainObjects.ice.H"
#include "Ice/RobotSimEvents.ice.H"
#include "Ice/IceImageUtils.H"
#include "Ice/SimEventsUtils.H"
#include <IceUtil/Thread.h>

#include <iostream>
#include <fstream>

class InferotemporalCortexI : public ModelComponent, public RobotBrainObjects::InferotemporalCortex, public IceUtil::Thread
{
public:

  struct CameraParam
  {
    Dims dims;
    float focalLength;
    float yaw;
  };

  InferotemporalCortexI(OptionManager& mgr,
      const std::string& descrName = "InferotemporalCortex",
      const std::string& tagName = "InferotemporalCortex");
  ~InferotemporalCortexI();

  virtual void run();


  //!Get a message
  virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
      const Ice::Current&);

  //!Initalize the object
  void init(Ice::CommunicatorPtr ic, Ice::ObjectAdapterPtr adapter);

  //!Init the object database
  bool initVDB();

  //! The evolve function
  void evolve();


  RobotSimEvents::LandmarkInfo getLandmarkInfo(rutz::shared_ptr<Keypoint> keyPoint);
  int findKeypointID(rutz::shared_ptr<Keypoint> keyPoint, float &prob);

private:
  RobotSimEvents::EventsPrx                 itsEventsPub;
  std::vector<SimEventsUtils::TopicInfo>    itsTopicsSubscriptions;
  Ice::ObjectPrx                            itsObjectPrx; //Our Proxy
  RobotSimEvents::ObjectMessagePtr          itsObjectMessage;
  RobotSimEvents::AttendedRegionMessagePtr  itsAttendedRegionMessage;
  RobotSimEvents::AttendedRegionMessagePtr  itsTrainingRegionMessage;
  IceUtil::Mutex                            itsARMutex;
  bool                                      itsUseColor;
  std::string                               itsVDBFile;
  VisualObjectDB                            itsVDB;
  nub::soft_ref<OutputFrameSeries>          itsOfs;
  std::string                               itsNextObjectName;
  bool                                      itsTrainingMode;

  std::vector<rutz::shared_ptr<Keypoint> >  itsKeypointsDB;
  std::map<std::string, Dims>               itsObjectSizeDB;

  //Paramters
  CameraParam itsCurrentCameraParam;
  uint itsMatchThresh;

  void learnObject(rutz::shared_ptr<VisualObject> vo, const int objId, const std::string name, const Dims objSize );
  void findObjects(const rutz::shared_ptr<VisualObject> vo);


};

#endif