FindLandmark.C

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/*!@file RCBot/FindLandmark.C find the landmark position from SceneRec  */
// //////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
// University of Southern California (USC) and the iLab at USC.         //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Lior Elazary <lelazary@yahoo.com>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/RCBot/FindLandmark.C $
// $Id: FindLandmark.C 9412 2008-03-10 23:10:15Z farhan $
//

#include "RCBot/FindLandmark.H"

// ######################################################################
FindLandmark::FindLandmark(SceneRecServer_var inSceneRec):
  sceneRec(inSceneRec), thLandmarkLoc(-1,-1), currentLeg(0)
{
  // start the thread
  start();
}

// ######################################################################
FindLandmark::~FindLandmark(){ }

// ######################################################################
void FindLandmark::run(void *ptr)
{
  while(1)
  {
    findLandmarkMutex.lock();

    LINFO("Waiting for image");
    findLandmarkCond.wait();
    findLandmarkMutex.unlock();
    LINFO("Got image");

    if (sceneRec->outputReady())
    {
      landmarkImgMutex.lock();
      Image<PixRGB<byte> > ima = img;
      landmarkImgMutex.unlock();

      Point2DOrb landLocOrb;
      int retLeg = sceneRec->getLandmarkLoc(landLocOrb);

      sceneRec->newInput(*image2Orb(ima)); //TODO: could use imgOrb

      thLandmarkInfoMutex.lock();
      currentLeg = retLeg;
      thLandmarkLoc.i = landLocOrb.i;
      thLandmarkLoc.j = landLocOrb.j;
      thLandmarkInfoMutex.unlock();
    }
  }
}

// ######################################################################
int FindLandmark::getLandmark(Point2D<int> &landmarkLoc)
{
  int retLeg;

  LINFO("Getting lock");
  thLandmarkInfoMutex.lock();
  retLeg = currentLeg;
  landmarkLoc = thLandmarkLoc;
  thLandmarkInfoMutex.unlock();
  LINFO("Releasing lock");

  return retLeg;
}

// ######################################################################
void FindLandmark::setImg(Image<PixRGB<byte> > &inImg)
{
  landmarkImgMutex.lock();
  img = inImg;
  landmarkImgMutex.unlock();

  findLandmarkCond.signal();
}

// ######################################################################
/* So things look consistent in everyone's emacs... */
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