test-SeaBee.C

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00001 /*!@file BeoSub/test-SeaBee.C Test BeoSub submarine basic functions */
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: Laurent Itti <itti@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/test-SeaBee.C $
00035 // $Id: test-SeaBee.C 7063 2006-08-29 18:26:55Z rjpeters $
00036 //
00037 
00038 #include "BeoSub/SeaBee.H"
00039 #include "Component/ModelManager.H"
00040 #include "SIFT/VisualObjectDB.H"
00041 
00042 //need current estimation stuff
00043 int main(const int argc, const char **argv)
00044 {
00045 
00046   // instantiate a model manager:
00047 
00048 
00049   ModelManager manager("BeoSub Main Action");
00050 
00051   // Instantiate our various ModelComponents:
00052   nub::soft_ref<SeaBee> sub(new SeaBee(manager));
00053   manager.addSubComponent(sub);
00054 
00055   manager.start();
00056         sub->test();
00057 
00058   //sub->LookForRedLight();
00059 
00060   //sub->FollowPipeLine();
00061   //sub->ApproachPipeLine();
00062   //sub->TestBin(1);
00063   //sub->CenterBin();
00064   //sub->TaskB();
00065 
00066   /*
00067   // Parse command-line:
00068   if (manager.parseCommandLine(argc, argv, "", 0, 0) == false)
00069     return(1);
00070 
00071   // let's get all our ModelComponent instances started:
00072   manager.start();
00073 
00074   LINFO("start");
00075 
00076   // wait for visual start:
00077   rutz::shared_ptr<VisualObjectDB> startdb(new VisualObjectDB());
00078   if (startdb->loadFrom("/home/vien/startdb/startdb.vdb"))
00079     {
00080       int count = 0; const int maxcount = 120;
00081       while(++count < maxcount)
00082         {
00083           LINFO("Waiting for start image... %d/%d", count, maxcount);
00084 
00085           Image< PixRGB<byte> > img = sub->grabImage(BEOSUBCAMDOWN);
00086           rutz::shared_ptr<VisualObject> vo(new VisualObject("Grab", "", img));
00087           std::vector< rutz::shared_ptr<VisualObjectMatch> > matches;
00088           const uint nmatches =
00089             startdb->getObjectMatches(vo, matches, VOMA_KDTREEBBF,
00090                                       5U, 0.5F, 0.5F, 0.4F, 3U, 7U);
00091           if (nmatches > 0)
00092             {
00093               LINFO("Found! Let's get started.");
00094               break;
00095             }
00096         }
00097     }
00098   else
00099     LERROR("Cannot load start DB -- no visual start");
00100 
00101  #if 0
00102   sub->turnAbs(127, true);
00103   #endif
00104   Angle my = 127;
00105   sub->turnRel(my-sub->getHeading());
00106   sub->useRotVelPID(true);
00107   // go through gate:
00108   LINFO("diving...");
00109   sub->useDepthPID(true);
00110   sub->diveAbs(1.4F, true);
00111 
00112   LINFO("advancing...");
00113   sub->advanceRel(25.0F, true); //GATE FIX
00114   sub->diveAbs(3.2);
00115   if(!sub->approachArea("src/BeoSub/database/down/taskAdown", BEOSUBCAMDOWN, 10.0)){
00116     if(!sub->approachArea("src/BeoSub/database/front/taskAfront", BEOSUBCAMFRONT, 10.0)){
00117 
00118     }
00119   }
00120   sub->TaskA();
00121 
00122   if(!sub->approachArea("src/BeoSub/database/down/taskBdown", BEOSUBCAMDOWN, 10.0)){
00123     if(!sub->approachArea("src/BeoSub/database/front/taskBfront", BEOSUBCAMFRONT, 10.0)){
00124 
00125     }
00126   }
00127   sub->TaskB();
00128 
00129   if(!sub->approachArea("src/BeoSub/database/down/taskCdown", BEOSUBCAMDOWN, 10.0)){
00130     if(!sub->approachArea("src/BeoSub/database/front/taskCfront", BEOSUBCAMFRONT, 10.0)){
00131 
00132     }
00133   }
00134   sub->TaskC();
00135 
00136   sub->diveAbs(-1.0);
00137   sleep(300);
00138   // stop all our ModelComponents
00139   manager.stop();
00140 
00141   // all done!
00142   return 0;
00143 */
00144 }
00145 
00146 // ######################################################################
00147 /* So things look consistent in everyone's emacs... */
00148 /* Local Variables: */
00149 /* indent-tabs-mode: nil */
00150 /* End: */
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