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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