Beobot2GistSalMaster.H

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00001 /*!@file                                                                */
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: Christian Siagian <siagian@usc.edu>
00033 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/Beobot2/Localization/Beobot2GistSalMaster.H $
00034 // $Id: Beobot2GistSalMaster.H 12962 2010-03-06 02:13:53Z irock $
00035 //
00036 
00037 #ifndef BEOBOT2GISTSALMASTERI_H
00038 #define BEOBOT2GISTSALMASTERI_H
00039 
00040 #include "Component/ModelComponent.H"
00041 #include "Component/ModelParam.H"
00042 #include "Media/FrameSeries.H"
00043 #include "Transport/FrameInfo.H"
00044 #include "Raster/GenericFrame.H"
00045 #include "Image/Image.H"
00046 #include "GUI/XWinManaged.H"
00047 #include "GUI/ImageDisplayStream.H"
00048 #include "Image/Image.H"
00049 #include "Image/Pixels.H"
00050 #include "Robots/RobotBrain/RobotBrainComponent.H"
00051 
00052 #include "Ice/RobotBrainObjects.ice.H"
00053 #include "Ice/BeobotEvents.ice.H"
00054 #include "Ice/IceImageUtils.H"
00055 #include <IceUtil/Thread.h>
00056 
00057 
00058 #include "Beobot/BeobotBrainMT.H"
00059 #include "Beobot/beobot-GSnav-def.H"
00060 
00061 #include "Media/MediaOpts.H"
00062 
00063 class Beobot2GistSalMasterI : public RobotBrainComponent
00064 {
00065 public:
00066 
00067   Beobot2GistSalMasterI(OptionManager& mgr,
00068       const std::string& descrName = "Beobot2GistSalMaster",
00069       const std::string& tagName = "Beobot2GistSalMaster");
00070 
00071   ~Beobot2GistSalMasterI();
00072 
00073   //! Get started. See ModelComponent.
00074   virtual void start1();
00075 
00076   virtual void evolve();
00077 
00078   //!Get a message
00079   virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00080       const Ice::Current&);
00081 
00082   virtual void registerTopics();
00083 
00084   inline nub::soft_ref<InputFrameSeries> getIfs();
00085   inline void setInputFrameRate(uint64 inputFrameRate);
00086 
00087 private:
00088   nub::soft_ref<InputFrameSeries> itsIfs;      // input image
00089   nub::soft_ref<BeobotBrainMT>    itsBbmt;     // saliency and gist
00090   rutz::shared_ptr<XWinManaged>   itsMwin;     // display window
00091   Image<PixRGB<byte> >            itsDisp;     // display image
00092 
00093   ImageSet<float>                 itsCmap;     // conspicuity map
00094   std::vector<Point2D<int> >      itsClmpt;    // currently followed landmarks
00095   std::vector<Point2D<int> >      itsNlmpt;    // currently searched landmarks
00096 
00097   // frame number and timing related
00098   int itsCurrMessageID;
00099   uint64 itsInputFrameRate;                    // in micro-seconds
00100   bool itsNextFrameFlag;
00101   Timer itsInputTimer;
00102   std::vector<float> itsTimes;
00103 };
00104 
00105 // ######################################################################
00106 // Implementation for Beobot2GisSalMaster inline functions
00107 // ######################################################################
00108 inline nub::soft_ref<InputFrameSeries>  Beobot2GistSalMasterI::getIfs()
00109 { return itsIfs; }
00110 
00111 inline void Beobot2GistSalMasterI::setInputFrameRate(uint64 inputFrameRate)
00112 { itsInputFrameRate = inputFrameRate; }
00113 
00114 #endif
00115 
00116 // ######################################################################
00117 /* So things look consistent in everyone's emacs... */
00118 /* Local Variables: */
00119 /* indent-tabs-mode: nil */
00120 /* End: */
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