Beispiel #1
0
bool PasarModule::updateModule() 
{

    opc->update();
    list<Entity*> entities = opc->EntitiesCache();
    presentObjects.clear();
    presentLastSpeed = presentCurrentSpeed;
    presentCurrentSpeed.clear();
    for(list<Entity*>::iterator it=entities.begin(); it !=entities.end(); it++)
    {
        if ((*it)->name() != "icub")
        {
            //!!! ONLY RT_OBJECT and AGENTS ARE TRACKED !!!
            if ( ( (*it)->isType(EFAA_OPC_ENTITY_OBJECT) ))
            {		

                if ((*it)->isType(EFAA_OPC_ENTITY_RTOBJECT))
                {
                    RTObject * rto = opc->addRTObject((*it)->name());
                    presentObjects[ (*it)->name() ].o.fromBottle( rto->asBottle() );
                    presentObjects[ (*it)->name() ].o.m_saliency = rto->m_saliency;
                    presentObjects[ (*it)->name() ].speed = 0.0;
                    presentObjects[ (*it)->name() ].acceleration = 0.0;
                    presentObjects[ (*it)->name() ].restingSteps = 0;

                }

                if ((*it)->isType(EFAA_OPC_ENTITY_AGENT))
                {
                    Agent *ag = opc->addAgent((*it)->name());
                    presentObjects[ (*it)->name() ].o.fromBottle( ag->asBottle() );
                    presentObjects[ (*it)->name() ].o.m_saliency = ag->m_saliency;
                    presentObjects[ (*it)->name() ].speed = 0.0;
                    presentObjects[ (*it)->name() ].acceleration = 0.0;
                    presentObjects[ (*it)->name() ].restingSteps = 0;

                }/*
                 presentObjects[ (*it)->name() ].o.fromBottle( (*it)->asBottle() );
                 presentObjects[ (*it)->name() ].o.m_saliency = 0.0;
                 presentObjects[ (*it)->name() ].speed = 0.0;
                 presentObjects[ (*it)->name() ].acceleration = 0.0;
                 presentObjects[ (*it)->name() ].restingSteps = 0;*/
            }
        }
        //if (presentObjects[ (*it)->name() ].o.m_saliency > 0)
        //    cout<<" salience : " << (*it)->name() << " " << presentObjects[ (*it)->name() ].o.m_saliency << endl;

    }
    if (presentObjectsLastStep.size() > 0)
    {
        //Retrieve the bottom-up saliency (vision based) and attribute it to objects
        //saliencyBottomUp();

        //Compute top down saliency (concept based)
        saliencyTopDown();

        //Normalize
        //saliencyNormalize();

        //Inhinbition of return
        //        if(trackedObject!= "")
        //            presentObjects[trackedObject].o.m_saliency = max(0.0, presentObjects[trackedObject].o.m_saliency - pTopDownInhibitionReturn);


        //Leaky integrate
        saliencyLeakyIntegration();

        //Get the most salient object and track it
        map< string, ObjectModel >::iterator mostSalientObject = presentObjects.begin();
        for(map< string, ObjectModel >::iterator it=presentObjects.begin(); it!=presentObjects.end();it++)
        {    
            //  cout<<"Saliency ("<<it->second.o.name()<<") = "<<it->second.o.m_saliency<<endl;
            if (it->second.o.m_saliency > mostSalientObject->second.o.m_saliency)
                mostSalientObject = it;
        }

        trackedObject = mostSalientObject->first;

        if (presentObjects[trackedObject].o.m_saliency >0.0)
        {
            cout << "Tracking : " << trackedObject << " Salience : " << presentObjects[trackedObject].o.m_saliency << endl;
        }


        if (isControllingMotors && isFixationPointSafe(presentObjects[trackedObject].o.m_ego_position))
            igaze->lookAtFixationPoint(presentObjects[trackedObject].o.m_ego_position);

        //Prepare the output img
        ImageOf<PixelRgb> &img=saliencyOutput.prepare();
        img.copy(imageOut);
        saliencyOutput.write();

        //Update the OPC values
        for(list<Entity*>::iterator it=entities.begin(); it !=entities.end(); it++)
        {
            if (presentObjects.find( (*it)->name()) != presentObjects.end())
            {
                ((Object*)(*it))->m_saliency = presentObjects[(*it)->name()].o.m_saliency;
            }
        }
        opc->commit();
    }
    presentObjectsLastStep = presentObjects;
    return true;
}
Beispiel #2
0
bool PasarModule::updateModule()
{

    opc->update();
    entities = opc->EntitiesCache();

    presentObjects.clear();
    presentLastSpeed = presentCurrentSpeed;
    presentCurrentSpeed.clear();
    for (list<Entity*>::iterator it = entities.begin(); it != entities.end(); it++)
    {
        if ((*it)->name() != "icub")
        {
            //!!! ONLY OBJECTS, RT_OBJECT and AGENTS ARE TRACKED !!!

            if ((*it)->isType(EFAA_OPC_ENTITY_RTOBJECT) || (*it)->isType(EFAA_OPC_ENTITY_AGENT) || (*it)->isType(EFAA_OPC_ENTITY_OBJECT))
            {            

                if ((*it)->isType(EFAA_OPC_ENTITY_RTOBJECT))
                {
                    RTObject * rto = dynamic_cast<RTObject*>(*it);
                    presentObjects[(*it)->name()].o.fromBottle(rto->asBottle());
                    presentObjects[(*it)->name()].o.m_saliency = rto->m_saliency;

                }

                if ((*it)->isType(EFAA_OPC_ENTITY_OBJECT))
                {
                    Object * ob = dynamic_cast<Object*>(*it);
                    presentObjects[(*it)->name()].o.fromBottle(ob->asBottle());
                    presentObjects[(*it)->name()].o.m_saliency = ob->m_saliency;

                }

                if ((*it)->isType(EFAA_OPC_ENTITY_AGENT))
                {
                    Agent *ag = dynamic_cast<Agent*>(*it);
                    presentObjects[(*it)->name()].o.fromBottle(ag->asBottle());
                    presentObjects[(*it)->name()].o.m_saliency = ag->m_saliency;
                }
            }
        }
    }
    //if (presentObjects[ (*it)->name() ].o.m_saliency > 0)
    //    cout<<" salience : " << (*it)->name() << " " << presentObjects[ (*it)->name() ].o.m_saliency << endl;

    if (presentObjectsLastStep.size() > 0)
    {
        //Compute top down saliency (concept based)
        saliencyTopDown();
        if (isPointing) saliencyPointing();
        if (isWaving)   saliencyWaving();

        //Normalize
        //saliencyNormalize();

        //Inhinbition of return
        //                if(trackedObject!= "")
        //                    presentObjects[trackedObject].o.m_saliency = max(0.0, presentObjects[trackedObject].o.m_saliency - pTopDownInhibitionReturn);


        //Leaky integrate
        saliencyLeakyIntegration();

        //Get the most salient object and track it
        map< string, ObjectModel >::iterator mostSalientObject = presentObjects.begin();
        for (map< string, ObjectModel >::iterator it = presentObjects.begin(); it != presentObjects.end(); it++)
        {
            //  cout<<"Saliency ("<<it->second.o.name()<<") = "<<it->second.o.m_saliency<<endl;
            if (it->second.o.m_saliency > mostSalientObject->second.o.m_saliency)
                mostSalientObject = it;
        }

        trackedObject = mostSalientObject->first;

        if (presentObjects[trackedObject].o.m_saliency > 0.0)
        {
            cout << "Tracking : " << trackedObject << " Salience : " << presentObjects[trackedObject].o.m_saliency << endl;
        }


        //Update the OPC values
        for (list<Entity*>::iterator it = entities.begin(); it != entities.end(); it++)
        {
            if (presentObjects.find((*it)->name()) != presentObjects.end())
            {
                (dynamic_cast<Object*>(*it))->m_saliency = presentObjects[(*it)->name()].o.m_saliency;
            }
        }
        opc->commit();
    }
    presentObjectsLastStep = presentObjects;

    return true;
}