inc/controllers/sensorFusion/detectRobotVisually.h

#ifdef WITH_ROBOT_DETECTION

#ifndef DETECTROBOTVISUALLY_H_
#define DETECTROBOTVISUALLY_H_

// General libraries
#include <iostream>

// Delta3D library
#include <dtCore/refptr.h>

// Symbricator3D library
#include <basic/sensors/cameraSensorBase.h>
#include <controller/controllerComponentBase.h>

// Symbricator3D fusion library
#include <controller/almControllers/sensorFusionComponent/saliencyDetector/saliencyDetector.h>
#include <controller/almControllers/sensorFusionComponent/associativeLearning/qLearning.h>
#include <controller/almControllers/sensorFusionComponent/associativeLearning/hebbianLearning.h>
#include <controller/almControllers/sensorFusionComponent/utils/imageViewer.h>
#include <controller/almControllers/sensorFusionComponent/objectDetector/objectDetector.h>
#include <controller/almControllers/sensorFusionComponent/utils/experiment.h>
#include <controller/almControllers/sensorFusionComponent/associativeMemory/audioVisualFusion.h>

// Plugin files
#include <controllers/controllerUtil.h>
#include <controllers/subController.h>

using namespace almendeSensorFusion;

namespace srAlmende {

//struct VisualConfig {
//      unsigned char **image;
//      int imgRegionX;
//      int imgRegionY;
//      int imgRegionWidth;
//      int imgRegionHeight;
//      int imageWidth;
//      int imageHeight;
//};

class DetectRobotVisually: public SubController {
public:
        DetectRobotVisually(const std::string &name, srCore::RobotActorBase *robotActor);

        virtual ~DetectRobotVisually();

        CtrlMsg* Act(CtrlMsg *message);

#ifdef WITH_UNITTESTING
        int extractClassId();
#endif

private:
        bool resetRobotFlag;
        bool useAttention;
        bool useFusion;

        SaliencyDetector saliencyD;
        ControllerUtil::HistoryMap imageLocHist;
        ControllerUtil::HistoryMap energyClassHistImage;
        ControllerUtil::HistoryMap energyClassHistAI;

        int sDataCounter;
        int localCounter;

        int imageScale;

        unsigned char ** lastImage;

        QLearning::QLearner cameraMotor;

        time_t saveTimer, trackTimer;

        AudioVisualFusion AVFusion;

        FusionInput fusionInput;

        bool trackingGoal;

        ExperimentLog experiment;

        float simTime;

        void testInputImage(std::string fileName);

        void initSaliencyDetector();

        bool salientImage(osg::ref_ptr<osg::Image> camImage, float* location);

        int classifyObject(bool learning);

        float location;

        osg::ref_ptr<osg::Image> camImage;

        int counter;
};

}

#endif


#endif /* DETECTROBOTVISUALLY_H_ */

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