beobot-GSnav-master.C File Reference

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Detailed Description

Robot navigation using a combination saliency and gist. Run beobot-GSnav-master at CPU_A to run Gist-Saliency model Run beobot-GSnav at CPU_B to run SIFT object recognition

Definition in file beobot-GSnav-master.C.

#include "Beowulf/Beowulf.H"
#include "Component/ModelManager.H"
#include "Media/FrameSeries.H"
#include "Transport/FrameIstream.H"
#include "Neuro/SaccadeController.H"
#include "Neuro/SaccadeControllers.H"
#include "Neuro/SaccadeControllerConfigurator.H"
#include "Neuro/NeuroOpts.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "Raster/Raster.H"
#include "GUI/XWinManaged.H"
#include "Media/MediaOpts.H"
#include "Util/Timer.H"
#include "Simulation/SimEventQueue.H"
#include "Simulation/SimEventQueueConfigurator.H"
#include "Devices/DeviceOpts.H"
#include "Beobot/BeobotBrainMT.H"
#include "Beobot/BeobotConfig.H"
#include "Beobot/BeobotControl.H"
#include "Beobot/BeobotBeoChipListener.H"
#include "RCBot/Motion/MotionEnergy.H"
#include "Controllers/PID.H"
#include "Image/MathOps.H"
#include "Image/CutPaste.H"
#include "Image/DrawOps.H"
#include "Image/FilterOps.H"
#include "Image/PyramidOps.H"
#include "Image/ShapeOps.H"
#include "Image/Transforms.H"
#include "Beobot/beobot-GSnav-def.H"
#include "Beobot/GSnavResult.H"
#include <signal.h>

Include dependency graph for beobot-GSnav-master.C:

Go to the source code of this file.

Defines
#define	ERR_INTERVAL   5000
Functions
std::string	getInputPrefix (nub::soft_ref< InputFrameSeries > ifs, int &inputType)
	get the input prefix to save the intermdeiate results
int	getOpMode (std::string opmodestr)
	get the operation mode of the current run
void	setupBeoChip (nub::soft_ref< BeoChip > b, BeobotConfig bbc)
	setup the BeoChip
int	beoChipProc (rutz::shared_ptr< BeobotBeoChipListener > lis, nub::soft_ref< BeoChip > b)
	process beoChip input
void	getBbmtResults (nub::ref< BeobotBrainMT > bbmt, Image< PixRGB< byte > > &currIma, Image< double > &cgist, Image< float > &currSalMap, ImageSet< float > &cmap, std::vector< Point2D< int > > &salpt, std::vector< std::vector< double > > &feat, std::vector< Rectangle > &objRect)
	get all the necessary information from the visual cortex
void	dispResults (Image< PixRGB< byte > > disp, rutz::shared_ptr< XWinManaged > win, Image< PixRGB< byte > > ima, Image< PixRGB< byte > > prevIma, std::vector< Point2D< int > > clmpt, std::vector< Point2D< int > > nlmpt, Image< float > currSalMap, std::vector< Point2D< int > > salpt, std::vector< Rectangle > objRect)
	display results
bool	checkNode (int opMode, nub::soft_ref< Beowulf > beo, int32 &rnode, TCPmessage &rmsg, int32 &raction, int32 &rframe)
	check to see if the node have returned results
bool	checkInput (int opMode, bool resetNextLandmark, uint64 inputFrameRate, uint64 inputTime)
	check to see if the new input should be processed
void	setupVentralPacket (TCPmessage &smsg, int rframe, bool resetVentralSearch, Image< PixRGB< byte > > currIma, Image< double > cgist, std::vector< Point2D< int > > salpt, std::vector< std::vector< double > > feat, std::vector< Rectangle > objRect, float dx, float dy, uint snumGT, float ltravGT)
void	setupDorsalPacket (TCPmessage &smsg, int rframe, ImageSet< float > cmap, bool resetCurrLandmark, std::vector< Point2D< int > > clmpt, bool resetNextLandmark, std::vector< Point2D< int > > nlmpt)
	setup the packet containing cmaps for tracking
void	processDorsalResult (TCPmessage &rmsg, int32 raction, int32 rframe, std::vector< Point2D< int > > &clmpt, std::vector< Point2D< int > > &nlmpt, bool &resetNextLandmark, float &sp, float &st)
	get the proper motor command to run the robot
void	processVentralResult (TCPmessage &rmsg, int32 raction, int32 rframe, std::vector< Point2D< int > > &clmpt, std::vector< Point2D< int > > &nlmpt, bool &resetCurrLandmark, bool &resetNextLandmark)
	setup for the next search
void	getOdometry (float &dx, float &dy)
	get the odometry information
void	executeMotorCommand (int opMode, float st, float sp)
	execute the motor command from Dorsal
Image< double >	hack (uint fNum, uint &snumGT, float &ltravGT, float &dx, float &dy)
	feed in the gist file and current ground truth
void	reportResults (std::string resultPrefix, uint nsegment)
	report the results of the current run
void	terminate (int s)
	Signal handler (e.g., for control-C).
int	main (const int argc, const char **argv)
Variables
static bool	goforever = true

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Function Documentation

int beoChipProc (  rutz::shared_ptr< BeobotBeoChipListener >  lis, nub::soft_ref< BeoChip >  b )

process beoChip input Definition at line 862 of file beobot-GSnav-master.C. References BC_NO_SIGNAL, BC_QUIT_SIGNAL, and i.

bool checkInput (  int  opMode, bool  resetNextLandmark, uint64  inputFrameRate, uint64  inputTime )

check to see if the new input should be processed Definition at line 921 of file beobot-GSnav-master.C. References ERR_INTERVAL, TEST_MODE, and TRAIN_MODE. Referenced by main().

bool checkNode (  int  opMode, nub::soft_ref< Beowulf >  beo, int32 &  rnode, TCPmessage &  rmsg, int32 &  raction, int32 &  rframe )

check to see if the node have returned results Definition at line 911 of file beobot-GSnav-master.C. References beo. Referenced by main().

void dispResults (  Image< PixRGB< byte > >  disp, rutz::shared_ptr< XWinManaged >  win, Image< PixRGB< byte > >  ima, Image< PixRGB< byte > >  prevIma, std::vector< Point2D< int > >  clmpt, std::vector< Point2D< int > >  nlmpt, Image< float >  currSalMap, std::vector< Point2D< int > >  salpt, std::vector< Rectangle >  objRect )

display results Definition at line 784 of file beobot-GSnav-master.C. References drawDisk(), drawRect(), Image< T >::getHeight(), Image< T >::getWidth(), h, i, Image< T >::initialized(), inplaceNormalize(), inplacePaste(), rutz::min(), quickInterpolate(), sformat(), Image< T >::size(), SMFAC, sml, toRGB(), w, and writeText(). Referenced by Beobot2GistSalMasterI::evolve().

void executeMotorCommand (  int  opMode, float  st, float  sp )

execute the motor command from Dorsal Definition at line 761 of file beobot-GSnav-master.C. References LERROR, TEST_MODE, and TRAIN_MODE. Referenced by main().

void getBbmtResults (  nub::ref< BeobotBrainMT >  bbmt, Image< PixRGB< byte > > &  currIma, Image< double > &  cgist, Image< float > &  currSalMap, ImageSet< float > &  cmap, std::vector< Point2D< int > > &  salpt, std::vector< std::vector< double > > &  feat, std::vector< Rectangle > &  objRect )

get all the necessary information from the visual cortex Definition at line 882 of file beobot-GSnav-master.C. References features, i, and NUM_CHANNELS. Referenced by Beobot2GistSalMasterI::evolve(), and main().

std::string getInputPrefix (  nub::soft_ref< InputFrameSeries >  ifs, int &  inputType )

get the input prefix to save the intermdeiate results Definition at line 639 of file beobot-GSnav-master.C. References CAMERA_INPUT, FILE_INPUT, i, input, and LINFO. Referenced by main().

void getOdometry (  float &  dx, float &  dy )

get the odometry information Definition at line 754 of file beobot-GSnav-master.C. Referenced by main().

int getOpMode (  std::string  opmodestr  )

get the operation mode of the current run Definition at line 699 of file beobot-GSnav-master.C. References TEST_MODE, and TRAIN_MODE. Referenced by main().

Image< double > hack (  uint  fNum, uint &  snumGT, float &  ltravGT, float &  dx, float &  dy )

feed in the gist file and current ground truth Definition at line 1162 of file beobot-GSnav-master.C. References Image< T >::beginw(), i, LDEBUG, LFATAL, NO_INIT, and sformat(). Referenced by main(), and Beobot2_GistSalLocalizerMasterI::updateMessage().

void processDorsalResult (  TCPmessage &  rmsg, int32  raction, int32  rframe, std::vector< Point2D< int > > &  clmpt, std::vector< Point2D< int > > &  nlmpt, bool &  resetNextLandmark, float &  sp, float &  st )

get the proper motor command to run the robot Definition at line 1082 of file beobot-GSnav-master.C. References Image< T >::clear(), TCPmessage::getElementInt32(), i, LDEBUG, LINFO, TCPmessage::reset(), and TRACK_LM_RES. Referenced by main().

void processVentralResult (  TCPmessage &  rmsg, int32  raction, int32  rframe, std::vector< Point2D< int > > &  clmpt, std::vector< Point2D< int > > &  nlmpt, bool &  resetCurrLandmark, bool &  resetNextLandmark )

setup for the next search Definition at line 1026 of file beobot-GSnav-master.C. References Image< T >::clear(), TCPmessage::getElementInt32(), TCPmessage::getSize(), i, LDEBUG, LINFO, TCPmessage::reset(), SEARCH_LM_RES, and Image< T >::size(). Referenced by main().

void reportResults (  std::string  resultPrefix, uint  nsegment )

report the results of the current run Definition at line 1293 of file beobot-GSnav-master.C. References LINFO, GSnav_M_Result::maxBbmtTime, GSnav_M_Result::maxDorsalTime, GSnav_M_Result::maxInputTime, GSnav_M_Result::maxVentralSearchTime, GSnav_M_Result::meanBbmtTime, GSnav_M_Result::meanDorsalTime, GSnav_M_Result::meanInputTime, GSnav_M_Result::meanVentralSearchTime, GSnav_M_Result::minBbmtTime, GSnav_M_Result::minDorsalTime, GSnav_M_Result::minInputTime, GSnav_M_Result::minVentralSearchTime, GSnav_M_Result::read(), GSnav_M_Result::stdevBbmtTime, GSnav_M_Result::stdevDorsalTime, GSnav_M_Result::stdevInputTime, and GSnav_M_Result::stdevVentralSearchTime. Referenced by main().

void setupBeoChip (  nub::soft_ref< BeoChip >  b, BeobotConfig  bbc )

setup the BeoChip Definition at line 709 of file beobot-GSnav-master.C. References BeobotConfig::gearMaxVal, BeobotConfig::gearMinVal, BeobotConfig::gearNeutralVal, BeobotConfig::gearServoNum, LINFO, BeobotConfig::pwm0MaxVal, BeobotConfig::pwm0MinVal, BeobotConfig::pwm0NeutralVal, BeobotConfig::pwm1MaxVal, BeobotConfig::pwm1MinVal, BeobotConfig::pwm1NeutralVal, BeobotConfig::speedMaxVal, BeobotConfig::speedMinVal, BeobotConfig::speedNeutralVal, BeobotConfig::speedServoNum, BeobotConfig::steerMaxVal, BeobotConfig::steerMinVal, BeobotConfig::steerNeutralVal, and BeobotConfig::steerServoNum.

void setupDorsalPacket (  TCPmessage &  smsg, int  rframe, ImageSet< float >  cmap, bool  resetCurrLandmark, std::vector< Point2D< int > >  clmpt, bool  resetNextLandmark, std::vector< Point2D< int > >  nlmpt )

setup the packet containing cmaps for tracking Definition at line 995 of file beobot-GSnav-master.C. References TCPmessage::addImageSet(), TCPmessage::addInt32(), i, LDEBUG, TCPmessage::reset(), Image< T >::size(), and TRACK_LM. Referenced by main().

void setupVentralPacket (  TCPmessage &  smsg, int  rframe, bool  resetVentralSearch, Image< PixRGB< byte > >  currIma, Image< double >  cgist, std::vector< Point2D< int > >  salpt, std::vector< std::vector< double > >  feat, std::vector< Rectangle >  objRect, float  dx, float  dy, uint  snumGT, float  ltravGT )

setup the packat containing the salient region information to be recognized by the ventral module Definition at line 940 of file beobot-GSnav-master.C. References TCPmessage::addDouble(), TCPmessage::addFloat(), TCPmessage::addImage(), TCPmessage::addInt32(), convertToString(), i, LDEBUG, TCPmessage::reset(), SEARCH_LM, and top. Referenced by main().

void terminate (  int  s  )

Signal handler (e.g., for control-C). Definition at line 193 of file beobot-GSnav-master.C. References goforever, and LERROR.

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