learnedobj.cpp

机器人程序

// LearnedObj.cpp - by Robin Hewitt, 2005
// http://www.robinhewitt.com/mavis
// This is free software. See license at the bottom
// of this file for terms of use.
//

//////////////////////////////////////////////////////////////
// Implementation of LearnedObj class
//

#include "LearnedObj.h"
#include "Mavis.h"
#include "../Logger.h"
#include "../Params.h"
#include "../camera/Camera.h"
#include "MVObjModel.h"


using namespace std;
using namespace MVDataUtils;
using namespace MVObjSearch;

//////////////////////////////////////////////////////////////
// LearnedObj class
//

const int LearnedObj::MAX_NEG_EXAMPLES = 100;
const int LearnedObj::MAX_POS_EXAMPLES = 100;

//////////////////
//  constructor
//
LearnedObj::LearnedObj(Mavis * pM, int id, string & dataDir) :
MVObjBase(pM), objId(id), pSearchCtl(0)
{
	// get model number for this object ID

	string record;
	int modelNum;

	DBAccessResult_t result =
		getRecord(dataDir, MVDataUtils::OBJDB, id, record);
	if(DB_SUCCESS == result)
		if( DB_SUCCESS == getFieldValue(record, 2, &modelNum) )
		{
			//cout << " modelNum = " << modelNum << "\n";
			// instantiate the SearchCtl object
			SearchCtlParams params;
			params.dataDir = dataDir;
			params.modelNum = modelNum;

			try
			{
				pSearchCtl = new SearchCtl(params);
			}
			catch(MVObjErr & err)
			{
				throw MavisErr(err);
			}
		}
		else
			throw MavisErr( "Object %d doesn\'t have a model", id );
	else
	{
		//todo: base error message on returned DBAccessResult_t value
		throw MavisErr( "No record for object %d", id );
	}

	// Capture first example
	countdownNeg = countdownPos = 0;
}


//////////////////
//  destructor
//
LearnedObj::~LearnedObj()
{
	if(pSearchCtl) delete pSearchCtl;
}


//////////////////
//  lookOnce()
//
int LearnedObj::lookOnce(ObjLoc_t * pObjLoc)
{
	memset(pObjLoc, 0, sizeof(ObjLoc_t));
	VideoFrame * pFrame = 0;
	pFrame = pMavis->getNextFrame();

	Result_t * pResult = pSearchCtl->search(*pFrame);

	Logger * pLogger = pMavis->getLogger();
	pLogger->writelnToLog("Looking for Learned Object number %d", objId);

	ImgDB * pImgDB = pMavis->getImgDB();

	// display the result
	if(pResult)
	{
		Hit_t * pHit = pResult->pHit;

		// Time to capture a positive example?
		if(!countdownPos && pImgDB->getNPos() < MAX_POS_EXAMPLES)
		{
			pImgDB->addPosLook(objId, *pFrame, pHit->roi);

			// reset countdownPos
			countdownPos = 5;
		}
		else
			--countdownPos;

		// Outline the ROI
		MVImgUtils::Vis::outlineROI(*pFrame, (pHit->roi), 0xffff00);
		pLogger->writelnToLog("\tFound Learned Object. Strength = %.2g", pResult->pHit->strength);
		delete pResult;
	}
	else
	{
		// Time to capture a negative example?
		int nPos = pImgDB->getNPos();
		int nNeg = pImgDB->getNNeg();
		if( (!countdownNeg) && (!nNeg || nNeg < nPos) && (nNeg < MAX_NEG_EXAMPLES) )
		{
			pImgDB->addNegLook(objId, *pFrame);

			// reset countdownNeg
			countdownNeg = 8;
		}
		else
			--countdownNeg;

		pLogger->writelnToLog("\tDidn\'t find Learned Object");
	}

	return 0;
}

///////////////////////////////////////////////////////////////////////////////////////
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this
// license. If you do not agree to this license, do not download, install, copy or
// use the software.
//
//
//                        Mavis License Agreement
//
// Copyright (c) 2004-2005, Robin Hewitt (http://www.robin-hewitt.com).
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistributions in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
// This software is provided "as is" and any express or implied warranties, including,
// but not limited to, the implied warranties of merchantability and fitness for a
// particular purpose are disclaimed. In no event shall the authors or contributors be
// liable for any direct, indirect, incidental, special, exemplary, or consequential
// damages (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused and on any
// theory of liability, whether in contract, strict liability, or tort (including
// negligence or otherwise) arising in any way out of the use of this software, even
// if advised of the possibility of such damage.
///////////////////////////////////////////////////////////////////////////////////////