FindLandmark.C

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00001 /*!@file RCBot/FindLandmark.C find the landmark position from SceneRec  */
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: Lior Elazary <lelazary@yahoo.com>
00033 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/RCBot/FindLandmark.C $
00034 // $Id: FindLandmark.C 9412 2008-03-10 23:10:15Z farhan $
00035 //
00036 
00037 #include "RCBot/FindLandmark.H"
00038 
00039 // ######################################################################
00040 FindLandmark::FindLandmark(SceneRecServer_var inSceneRec):
00041   sceneRec(inSceneRec), thLandmarkLoc(-1,-1), currentLeg(0)
00042 {
00043   // start the thread
00044   start();
00045 }
00046 
00047 // ######################################################################
00048 FindLandmark::~FindLandmark(){ }
00049 
00050 // ######################################################################
00051 void FindLandmark::run(void *ptr)
00052 {
00053   while(1)
00054   {
00055     findLandmarkMutex.lock();
00056 
00057     LINFO("Waiting for image");
00058     findLandmarkCond.wait();
00059     findLandmarkMutex.unlock();
00060     LINFO("Got image");
00061 
00062     if (sceneRec->outputReady())
00063     {
00064       landmarkImgMutex.lock();
00065       Image<PixRGB<byte> > ima = img;
00066       landmarkImgMutex.unlock();
00067 
00068       Point2DOrb landLocOrb;
00069       int retLeg = sceneRec->getLandmarkLoc(landLocOrb);
00070 
00071       sceneRec->newInput(*image2Orb(ima)); //TODO: could use imgOrb
00072 
00073       thLandmarkInfoMutex.lock();
00074       currentLeg = retLeg;
00075       thLandmarkLoc.i = landLocOrb.i;
00076       thLandmarkLoc.j = landLocOrb.j;
00077       thLandmarkInfoMutex.unlock();
00078     }
00079   }
00080 }
00081 
00082 // ######################################################################
00083 int FindLandmark::getLandmark(Point2D<int> &landmarkLoc)
00084 {
00085   int retLeg;
00086 
00087   LINFO("Getting lock");
00088   thLandmarkInfoMutex.lock();
00089   retLeg = currentLeg;
00090   landmarkLoc = thLandmarkLoc;
00091   thLandmarkInfoMutex.unlock();
00092   LINFO("Releasing lock");
00093 
00094   return retLeg;
00095 }
00096 
00097 // ######################################################################
00098 void FindLandmark::setImg(Image<PixRGB<byte> > &inImg)
00099 {
00100   landmarkImgMutex.lock();
00101   img = inImg;
00102   landmarkImgMutex.unlock();
00103 
00104   findLandmarkCond.signal();
00105 }
00106 
00107 // ######################################################################
00108 /* So things look consistent in everyone's emacs... */
00109 /* Local Variables: */
00110 /* indent-tabs-mode: nil */
00111 /* End: */
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