DownwardVision.H

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00001 /*!@file SeaBee/DownwardVision.H Downward Vision Agent         */
00002 // //////////////////////////////////////////////////////////////////// //
00003 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00004 // University of Southern California (USC) and the iLab at USC.         //
00005 // See http://iLab.usc.edu for information about this project.          //
00006 // //////////////////////////////////////////////////////////////////// //
00007 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00008 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00009 // in Visual Environments, and Applications'' by Christof Koch and      //
00010 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00011 // pending; application number 09/912,225 filed July 23, 2001; see      //
00012 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00013 // //////////////////////////////////////////////////////////////////// //
00014 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00015 //                                                                      //
00016 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00017 // redistribute it and/or modify it under the terms of the GNU General  //
00018 // Public License as published by the Free Software Foundation; either  //
00019 // version 2 of the License, or (at your option) any later version.     //
00020 //                                                                      //
00021 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00022 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00023 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00024 // PURPOSE.  See the GNU General Public License for more details.       //
00025 //                                                                      //
00026 // You should have received a copy of the GNU General Public License    //
00027 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00028 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00029 // Boston, MA 02111-1307 USA.                                           //
00030 // //////////////////////////////////////////////////////////////////// //
00031 //
00032 // Primary maintainer for this file: Michael Montalbo <montalbo@usc.edu>
00033 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/DownwardVision.H $
00034 // $Id: DownwardVision.H 9976 2008-07-25 15:20:06Z beobot $
00035 //
00036 //////////////////////////////////////////////////////////////////////////
00037 
00038 #ifndef __DOWN_VISION_H__
00039 #define __DOWN_VISION_H__
00040 
00041 
00042 #include "SensorAgent.H"
00043 #include "AgentManager.H"
00044 #include "SeaBee/PipeRecognizer.H"
00045 
00046 class AgentManager;
00047 
00048 class DownwardVisionAgent : public SensorAgent
00049 {
00050  public:
00051 
00052   DownwardVisionAgent(OptionManager& mgr,
00053                       nub::soft_ref<AgentManager> ama,
00054                       const std::string& name = "DownwardVisionAgent");
00055 
00056  private:
00057 
00058   bool pickAndExecuteAnAction();
00059 
00060   rutz::shared_ptr<PipeRecognizer> itsPipeRecognizer;
00061   //rutz::shared_ptr<BeoSubCross> itsCrossRecognizer;
00062 
00063   void lookForPipe(rutz::shared_ptr<Image<PixRGB<byte> > > segImg, rutz::shared_ptr<Image<PixRGB<byte> > > currImg);
00064   void lookForBin(rutz::shared_ptr<Image<byte> > segImg);
00065   void lookForCross(rutz::shared_ptr<Image<byte> > segImg);
00066   void runSaliency();
00067   void runStereo();
00068 
00069   Image<PixRGB<byte> > itsCameraImage;
00070   uint itsFrameNumber;
00071   nub::soft_ref<AgentManager> itsAgentManager;
00072 };
00073 
00074 #endif
00075 
00076 // ######################################################################
00077 /* So things look consistent in everyone's emacs... */
00078 /* Local Variables: */
00079 /* indent-tabs-mode: nil */
00080 /* End: */
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