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MapBuilderRequests.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_MapBuilderRequests_h_ #define INCLUDED_MapBuilderRequests_h_ #include "BlobData.h" #include "ShapeTypes.h" #include "VRmixin.h" namespace DualCoding { class MapBuilderRequest { typedef map<ShapeType_t,set<int> > colorMap; friend class MapBuilder; public: enum MapBuilderRequestType_t { none, takeSnap, localMap, worldMap }; virtual MapBuilderRequestType_t getRequestType() const=0; virtual ~MapBuilderRequest() {} unsigned int requestID; // set by mapbuilder when added to request queue colorMap objectColors, occluderColors; map<int, int> minBlobAreas; map<int, BlobData::BlobOrientation_t> blobOrientations; unsigned int floorColor; unsigned int numImages; enum GroundPlaneAssumption_t { onStand, onLegs } groundPlaneAssumption; //! Constructor MapBuilderRequest(unsigned int num=1) : requestID(0), objectColors(), occluderColors(), minBlobAreas(), blobOrientations(), floorColor(0), numImages(num), groundPlaneAssumption(onLegs) {} //! Copy constructor MapBuilderRequest(const MapBuilderRequest& req) : requestID(req.requestID), objectColors(req.objectColors), occluderColors(req.occluderColors), minBlobAreas(req.minBlobAreas), blobOrientations(req.blobOrientations), floorColor(req.floorColor), numImages(req.numImages), groundPlaneAssumption(req.groundPlaneAssumption) {} private: MapBuilderRequest& operator=(const MapBuilderRequest& req); }; class TakeSnapRequest : public MapBuilderRequest { public: virtual MapBuilderRequestType_t getRequestType() const { return takeSnap; } TakeSnapRequest(unsigned int num=1) : MapBuilderRequest(num) {} TakeSnapRequest(const TakeSnapRequest& req) : MapBuilderRequest(req) {} }; class TakeSnapAtRequest : public TakeSnapRequest { public: TakeSnapAtRequest(const Point& pt, unsigned int num=1) : TakeSnapRequest(num), gazePt(pt) {} TakeSnapAtRequest(const TakeSnapAtRequest& req) : TakeSnapRequest(req), gazePt(req.gazePt) {} Point gazePt; }; class LocalMapRequest : public MapBuilderRequest { public: virtual MapBuilderRequestType_t getRequestType() const { return localMap; } //! Constructor with bounding box LocalMapRequest(coordinate_t maxX, coordinate_t minX, coordinate_t maxY, coordinate_t minY, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : MapBuilderRequest(num), shs(VRmixin::localShS), area(Shape<BlobData> (new BlobData (VRmixin::groundShS,Point(maxX,maxY),Point(maxX,minY), Point(minX,maxY),Point(minX,minY),(maxX-minX)*(maxY-minY), vector<BlobData::run>(),BlobData::groundplane,rgb(0,0,0)))), maxDist(_maxDist), clearShapes(clear), pursueShapes(true), manualHeadMotion(false), removePts(true), doScan(_doScan) {} //! Constructor with point target LocalMapRequest(const Point& pt, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : MapBuilderRequest(num), shs(VRmixin::localShS), area(Shape<PointData>(new PointData(VRmixin::groundShS,pt))), maxDist(_maxDist), clearShapes(clear), pursueShapes(true), manualHeadMotion(false), removePts(true), doScan(_doScan) {} //! Constructor with ShapeRoot to define scan region LocalMapRequest(const ShapeRoot _area, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : MapBuilderRequest(num), shs(VRmixin::localShS), area(_area), maxDist(_maxDist), clearShapes(clear), pursueShapes(true), manualHeadMotion(false), removePts(true), doScan(_doScan) {} //! Copy constructor LocalMapRequest(const LocalMapRequest& req) : MapBuilderRequest(req), shs(req.shs), area(req.area), maxDist(req.maxDist), clearShapes(req.clearShapes), pursueShapes(req.pursueShapes), manualHeadMotion(req.manualHeadMotion), removePts(req.removePts), doScan(req.doScan) {} virtual ~LocalMapRequest() {} ShapeSpace& shs; ShapeRoot area; //!< The area to search, in egocentric coords unsigned int maxDist; //!< Ignore objects farther than this distance bool clearShapes; //!< If true, clear the shape space at start of request bool pursueShapes; //!< If true, generate new gaze points as shapes are recognized bool manualHeadMotion; //!< If true, waits for !msg MoveHead before moving to next gaze point (for debugging) bool removePts; //!< If true, remove pending gaze points if they're visible in current image bool doScan; //!< If true, do a continuous scan of the area to find interest points to be examined protected: //! Constructor used by subclass WorldMapRequest LocalMapRequest(ShapeSpace& _shs, const ShapeRoot& _area, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : MapBuilderRequest(num), shs(_shs), area(_area), maxDist(_maxDist), clearShapes(clear), pursueShapes(true), manualHeadMotion(false), removePts(true), doScan(_doScan) {} //! Constructor used by subclass WorldMapRequest LocalMapRequest(ShapeSpace& _shs, coordinate_t maxX, coordinate_t minX, coordinate_t maxY, coordinate_t minY, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : MapBuilderRequest(num), shs(_shs), area(Shape<BlobData> (new BlobData (VRmixin::groundShS,Point(maxX,maxY),Point(maxX,minY), Point(minX,maxY),Point(minX,minY),(maxX-minX)*(maxY-minY), vector<BlobData::run>(),BlobData::groundplane,rgb(0,0,0)))), maxDist(_maxDist), clearShapes(clear), pursueShapes(true), manualHeadMotion(false), removePts(true), doScan(_doScan) {} }; class LocalMapTestRequest : public LocalMapRequest { public: LocalMapTestRequest(bool (*func)(), coordinate_t maxX, coordinate_t minX, coordinate_t maxY, coordinate_t minY, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : LocalMapRequest(maxX,minX,maxY,minY,_maxDist,num,clear,_doScan), exitTest(func){} LocalMapTestRequest(const LocalMapTestRequest& req) : LocalMapRequest(req), exitTest(req.exitTest) {} virtual ~LocalMapTestRequest() {} bool (*exitTest)(); private: LocalMapTestRequest& operator=(const LocalMapTestRequest&); }; class WorldMapRequest : public LocalMapRequest { public: virtual MapBuilderRequestType_t getRequestType() const { return worldMap; } //! Constructor using a shape to specify area WorldMapRequest(const ShapeRoot& _area, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : LocalMapRequest(VRmixin::worldShS,_area,_maxDist,num,clear,_doScan) {} //! Constructor using a bounding box WorldMapRequest(coordinate_t maxX, coordinate_t minX, coordinate_t maxY, coordinate_t minY, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : LocalMapRequest(VRmixin::worldShS,maxX,minX,maxY,minY,_maxDist,num,clear,_doScan) {} //! Copy constructor WorldMapRequest(const WorldMapRequest& req) : LocalMapRequest(req) {} virtual ~WorldMapRequest() {} }; class WorldMapTestRequest : public WorldMapRequest { public: // virtual MapBuilderRequestType_t getRequestType() const { return worldMapTest; } WorldMapTestRequest(bool (*func)(), const ShapeRoot& _area, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : WorldMapRequest(_area,_maxDist,num,clear,_doScan), exitTest(func){} WorldMapTestRequest(bool (*func)(), coordinate_t maxX, coordinate_t minX, coordinate_t maxY, coordinate_t minY, unsigned int _maxDist, unsigned int num=1, bool clear=true, bool _doScan=true) : WorldMapRequest(maxX,minX,maxY,minY,_maxDist,num,clear,_doScan), exitTest(func){} WorldMapTestRequest(const WorldMapTestRequest& req) : WorldMapRequest(req), exitTest(req.exitTest) {} virtual ~WorldMapTestRequest() {} bool (*exitTest)(); private: WorldMapTestRequest& operator=(const WorldMapTestRequest&); }; } // namespace #endif

DualCoding 3.0beta

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