InferotemporalCortexI.H

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00001 /*!@file InferotemporalCortexI.H get the object ID and position */
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: Lior Elazary <lelazary@yahoo.com>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/RobotBrain/InferotemporalCortexI.H $
00035 // $Id: InferotemporalCortexI.H 12281 2009-12-17 09:00:36Z itti $
00036 //
00037 
00038 #ifndef InferotemporalCortex_H_DEFINED
00039 #define InferotemporalCortex_H_DEFINED
00040 
00041 #include "Component/ModelComponent.H"
00042 #include "Component/ModelParam.H"
00043 #include "Media/FrameSeries.H"
00044 #include "Transport/FrameInfo.H"
00045 #include "Raster/GenericFrame.H"
00046 #include "Image/Image.H"
00047 #include "GUI/XWinManaged.H"
00048 #include "GUI/ImageDisplayStream.H"
00049 #include "Image/Image.H"
00050 #include "Image/Pixels.H"
00051 #include "SIFT/ScaleSpace.H"
00052 #include "SIFT/VisualObject.H"
00053 #include "SIFT/Keypoint.H"
00054 #include "SIFT/VisualObjectDB.H"
00055 
00056 #include "Ice/RobotBrainObjects.ice.H"
00057 #include "Ice/RobotSimEvents.ice.H"
00058 #include "Ice/IceImageUtils.H"
00059 #include "Ice/SimEventsUtils.H"
00060 #include <IceUtil/Thread.h>
00061 
00062 #include <iostream>
00063 #include <fstream>
00064 
00065 class InferotemporalCortexI : public ModelComponent, public RobotBrainObjects::InferotemporalCortex, public IceUtil::Thread
00066 {
00067 public:
00068 
00069   struct CameraParam
00070   {
00071     Dims dims;
00072     float focalLength;
00073     float yaw;
00074   };
00075 
00076   InferotemporalCortexI(OptionManager& mgr,
00077       const std::string& descrName = "InferotemporalCortex",
00078       const std::string& tagName = "InferotemporalCortex");
00079   ~InferotemporalCortexI();
00080 
00081   virtual void run();
00082 
00083 
00084   //!Get a message
00085   virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00086       const Ice::Current&);
00087 
00088   //!Initalize the object
00089   void init(Ice::CommunicatorPtr ic, Ice::ObjectAdapterPtr adapter);
00090 
00091   //!Init the object database
00092   bool initVDB();
00093 
00094   //! The evolve function
00095   void evolve();
00096 
00097 
00098   RobotSimEvents::LandmarkInfo getLandmarkInfo(rutz::shared_ptr<Keypoint> keyPoint);
00099   int findKeypointID(rutz::shared_ptr<Keypoint> keyPoint, float &prob);
00100 
00101 private:
00102   RobotSimEvents::EventsPrx                 itsEventsPub;
00103   std::vector<SimEventsUtils::TopicInfo>    itsTopicsSubscriptions;
00104   Ice::ObjectPrx                            itsObjectPrx; //Our Proxy
00105   RobotSimEvents::ObjectMessagePtr          itsObjectMessage;
00106   RobotSimEvents::AttendedRegionMessagePtr  itsAttendedRegionMessage;
00107   RobotSimEvents::AttendedRegionMessagePtr  itsTrainingRegionMessage;
00108   IceUtil::Mutex                            itsARMutex;
00109   bool                                      itsUseColor;
00110   std::string                               itsVDBFile;
00111   VisualObjectDB                            itsVDB;
00112   nub::soft_ref<OutputFrameSeries>          itsOfs;
00113   std::string                               itsNextObjectName;
00114   bool                                      itsTrainingMode;
00115 
00116   std::vector<rutz::shared_ptr<Keypoint> >  itsKeypointsDB;
00117   std::map<std::string, Dims>               itsObjectSizeDB;
00118 
00119   //Paramters
00120   CameraParam itsCurrentCameraParam;
00121   uint itsMatchThresh;
00122 
00123   void learnObject(rutz::shared_ptr<VisualObject> vo, const int objId, const std::string name, const Dims objSize );
00124   void findObjects(const rutz::shared_ptr<VisualObject> vo);
00125 
00126 
00127 };
00128 
00129 #endif
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