A module that gets the objects present in the OPC, and change their top down saliency according to their acceleration, appereance and disappereance. More...

Collaboration diagram for pasar:

Classes
struct	ObjectModel

class	PasarModule

Detailed Description

A module that gets the objects present in the OPC, and change their top down saliency according to their acceleration, appereance and disappereance.

The Bottom Up saliency is based on lumicroma and will integrate the visual component. Version:1.0

Author: Grégoire Pointeau greg..nosp@m.poin.nosp@m.teau@.nosp@m.gmai.nosp@m.l.com, Stéphane Lallée steph.nosp@m.ane..nosp@m.lalle.nosp@m.e@gm.nosp@m.ail.c.nosp@m.om

Copyright: Released under the terms of the GNU GPL v2.0

Description

A module that gets the objects present in the OPC, and change their top down saliency according to their acceleration, appereance and disappereance.
The Bottom Up saliency is based on lumicroma and will integrate the visual component.

Parameters

–name: name of the module
–parameterTopDownAppearanceBurst: score of saliency for an appereance
–parameterTopDownDisppearanceBurst: score of saliency for an diappereance
–parameterTopDownAccelerationCoef: score of saliency for an acceleration detected
–thresholdMovementAccel: threshold of an acceleration detection
–thresholdSaliency: under this threshlod, saliency is considered as 0
–pExponentialDecrease: Speed of the decrease of the saliency over the time (should be less than 1)

Input Ports

/pasar/rpc [Bottle] [default carrier:tcp]: Response port. Supported commands:
- pointing on/off: launch or stop pointing detection
- waving on/off: launch or stop waving detection
- help
- quit

Output Ports

Services

Class Documentation

◆ ObjectModel

struct ObjectModel

Definition at line 31 of file pasar.h.

Class Members
double	acceleration
double	lastTimeSeen
Object	o
bool	present
int	restingSteps
double	speed

◆ PasarModule

class PasarModule

Definition at line 45 of file pasar.h.

Inheritance diagram for PasarModule:

Public Member Functions
bool	configure (yarp::os::ResourceFinder &rf)

bool	interruptModule ()

bool	close ()

bool	respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply)

double	getPeriod ()

bool	updateModule ()

Protected Member Functions
void	saliencyTopDown ()
	saliencyTopDown Update the salience according to the informations contained in the OPC (acceleration, appareance, disappareance) More...

void	saliencyNormalize ()
	saliencyNormalize Normalize salience such that maximum salience = 1 More...

void	saliencyLeakyIntegration ()
	saliencyLeakyIntegration Decrease of the salience through time. More...

bool	saliencyPointing ()
	saliencyPointing Increase the salience of the closest object from the right hand More...

bool	saliencyWaving ()
	saliencyWaving Increase the saliency of the agent waving More...

void	initializeMapTiming ()

Protected Attributes
double	pTopDownAppearanceBurst
	score of saliency for an appereance More...

double	pTopDownDisappearanceBurst
	score of saliency for an diappereance More...

double	pTopDownAccelerationCoef
	score of saliency for an acceleration detected More...

double	pExponentialDecrease
	Speed of the decrease of the saliency over the time (should be less than 1) More...

double	pTopDownWaving
	increase of saliency if waving More...

double	thresholdMovementAccelAgent
	minimum acceleration to detect an agent More...

double	thresholdMovementAccelObject
	minimum acceleration to detect an object More...

double	thresholdWaving
	minimum waving detected More...

double	thresholdPointing
	maximum distance between hand and object to detect pointing More...

double	thresholdSaliency
	if object saliency is below this value, it is set to 0 More...

double	dthresholdAppear
	minimum time an object has to be present before it is detected as appeared More...

double	dthresholdDisappear
	minimum time an object has to be absent before it is detected as disappeared More...

double	dBurstOfPointing
	how much to increase saliency if object is pointed at More...

double	lastTimeWaving
	last time point when the agent was waving More...

double	lastTimePointing
	last time point when the agent was pointing More...

bool	checkWaving
	whether to detect waving of an agent More...

bool	checkPointing
	whether to detect pointing of an agent More...

icubclient::ICubClient *	iCub

yarp::os::Port	handlerPort
	a port to handle messages More...

yarp::sig::VectorOf< double >	rightHandt1
	position of right at t1 More...

yarp::sig::VectorOf< double >	rightHandt2
	position of right at t2 More...

yarp::sig::VectorOf< double >	leftHandt1
	position of left hand at t1 More...

yarp::sig::VectorOf< double >	leftHandt2
	position of left hand at t2 More...

std::pair< bool, bool >	presentRightHand
	first: whether right hand was present at t1; second: whether right hand is present at t2 More...

std::pair< bool, bool >	presentLeftHand
	first: whether left hand was present at t1; second: whether left hand is present at t2 More...

std::map< int, ObjectModel >	presentObjectsLastStep

std::map< int, std::pair< double, double > >	presentLastSpeed

std::map< int, std::pair< double, double > >	presentCurrentSpeed

std::map< int, ObjectModel >	OPCEntities

bool	isPointing
	if the human is pointing More...

bool	isWaving
	if if the human is waving More...

double	initTime

Member Function Documentation

◆ close()

bool PasarModule::close ( )

Definition at line 123 of file pasar.cpp.

◆ configure()

bool PasarModule::configure ( yarp::os::ResourceFinder & rf )

Definition at line 28 of file pasar.cpp.

◆ getPeriod()

double PasarModule::getPeriod ( )

Definition at line 372 of file pasar.cpp.

◆ initializeMapTiming()

void PasarModule::initializeMapTiming ( )

protected

!! ONLY OBJECTS and AGENTS ARE TRACKED !!!

Definition at line 587 of file pasar.cpp.

◆ interruptModule()

bool PasarModule::interruptModule ( )

Definition at line 113 of file pasar.cpp.

◆ respond()

bool PasarModule::respond	(	const yarp::os::Bottle &	command,
		yarp::os::Bottle &	reply
	)

Definition at line 138 of file pasar.cpp.

◆ saliencyLeakyIntegration()

void PasarModule::saliencyLeakyIntegration ( )

protected

saliencyLeakyIntegration Decrease of the salience through time.

Exponential factor pExponentialDecrease < 1

Definition at line 358 of file pasar.cpp.

◆ saliencyNormalize()

void PasarModule::saliencyNormalize ( )

protected

saliencyNormalize Normalize salience such that maximum salience = 1

Definition at line 337 of file pasar.cpp.

◆ saliencyPointing()

bool PasarModule::saliencyPointing ( )

protected

saliencyPointing Increase the salience of the closest object from the right hand

Returns: True if robot is pointing now, False otherwise

Definition at line 378 of file pasar.cpp.

◆ saliencyTopDown()

void PasarModule::saliencyTopDown ( )

protected

saliencyTopDown Update the salience according to the informations contained in the OPC (acceleration, appareance, disappareance)

Definition at line 266 of file pasar.cpp.

◆ saliencyWaving()

bool PasarModule::saliencyWaving ( )

protected

saliencyWaving Increase the saliency of the agent waving

Returns: true is the agent is wavingNow, False otherwise

Definition at line 462 of file pasar.cpp.

◆ updateModule()

bool PasarModule::updateModule ( )

Definition at line 211 of file pasar.cpp.

Member Data Documentation

◆ checkPointing

bool PasarModule::checkPointing

protected

whether to detect pointing of an agent

Definition at line 66 of file pasar.h.

◆ checkWaving

bool PasarModule::checkWaving

protected

whether to detect waving of an agent

Definition at line 65 of file pasar.h.

◆ dBurstOfPointing

double PasarModule::dBurstOfPointing

protected

how much to increase saliency if object is pointed at

Definition at line 60 of file pasar.h.

◆ dthresholdAppear

double PasarModule::dthresholdAppear

protected

minimum time an object has to be present before it is detected as appeared

Definition at line 58 of file pasar.h.

◆ dthresholdDisappear

double PasarModule::dthresholdDisappear

protected

minimum time an object has to be absent before it is detected as disappeared

Definition at line 59 of file pasar.h.

◆ handlerPort

yarp::os::Port PasarModule::handlerPort

protected

a port to handle messages

Definition at line 69 of file pasar.h.

◆ iCub

icubclient::ICubClient* PasarModule::iCub

protected

Definition at line 67 of file pasar.h.

◆ initTime

double PasarModule::initTime

protected

Definition at line 86 of file pasar.h.

◆ isPointing

bool PasarModule::isPointing

protected

if the human is pointing

Definition at line 84 of file pasar.h.

◆ isWaving

bool PasarModule::isWaving

protected

if if the human is waving

Definition at line 85 of file pasar.h.

◆ lastTimePointing

double PasarModule::lastTimePointing

protected

last time point when the agent was pointing

Definition at line 63 of file pasar.h.

◆ lastTimeWaving

double PasarModule::lastTimeWaving

protected

last time point when the agent was waving

Definition at line 62 of file pasar.h.

◆ leftHandt1

yarp::sig::VectorOf<double> PasarModule::leftHandt1

protected

position of left hand at t1

Definition at line 73 of file pasar.h.

◆ leftHandt2

yarp::sig::VectorOf<double> PasarModule::leftHandt2

protected

position of left hand at t2

Definition at line 74 of file pasar.h.

◆ OPCEntities

std::map<int, ObjectModel> PasarModule::OPCEntities

protected

Definition at line 82 of file pasar.h.

◆ pExponentialDecrease

double PasarModule::pExponentialDecrease

protected

Speed of the decrease of the saliency over the time (should be less than 1)

Definition at line 51 of file pasar.h.

◆ presentCurrentSpeed

std::map<int, std::pair<double, double> > PasarModule::presentCurrentSpeed

protected

Definition at line 81 of file pasar.h.

◆ presentLastSpeed

std::map<int, std::pair<double, double> > PasarModule::presentLastSpeed

protected

Definition at line 80 of file pasar.h.

◆ presentLeftHand

std::pair<bool, bool> PasarModule::presentLeftHand

protected

first: whether left hand was present at t1; second: whether left hand is present at t2

Definition at line 77 of file pasar.h.

◆ presentObjectsLastStep

std::map<int, ObjectModel> PasarModule::presentObjectsLastStep

protected

Definition at line 79 of file pasar.h.

◆ presentRightHand

std::pair<bool, bool> PasarModule::presentRightHand

protected

first: whether right hand was present at t1; second: whether right hand is present at t2

Definition at line 76 of file pasar.h.

◆ pTopDownAccelerationCoef

double PasarModule::pTopDownAccelerationCoef

protected

score of saliency for an acceleration detected

Definition at line 50 of file pasar.h.

◆ pTopDownAppearanceBurst

double PasarModule::pTopDownAppearanceBurst

protected

score of saliency for an appereance

Definition at line 48 of file pasar.h.

◆ pTopDownDisappearanceBurst

double PasarModule::pTopDownDisappearanceBurst

protected

score of saliency for an diappereance

Definition at line 49 of file pasar.h.

◆ pTopDownWaving

double PasarModule::pTopDownWaving

protected

increase of saliency if waving

Definition at line 52 of file pasar.h.

◆ rightHandt1

yarp::sig::VectorOf<double> PasarModule::rightHandt1

protected

position of right at t1

Definition at line 71 of file pasar.h.

◆ rightHandt2

yarp::sig::VectorOf<double> PasarModule::rightHandt2

protected

position of right at t2

Definition at line 72 of file pasar.h.

◆ thresholdMovementAccelAgent

double PasarModule::thresholdMovementAccelAgent

protected

minimum acceleration to detect an agent

Definition at line 53 of file pasar.h.

◆ thresholdMovementAccelObject

double PasarModule::thresholdMovementAccelObject

protected

minimum acceleration to detect an object

Definition at line 54 of file pasar.h.

◆ thresholdPointing

double PasarModule::thresholdPointing

protected

maximum distance between hand and object to detect pointing

Definition at line 56 of file pasar.h.

◆ thresholdSaliency

double PasarModule::thresholdSaliency

protected

if object saliency is below this value, it is set to 0

Definition at line 57 of file pasar.h.

◆ thresholdWaving

double PasarModule::thresholdWaving

protected

minimum waving detected

Definition at line 55 of file pasar.h.

Classes

Detailed Description

Description

Parameters

Input Ports

Output Ports

Services

Class Documentation

◆ ObjectModel

◆ PasarModule

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ close()

◆ configure()

◆ getPeriod()

◆ initializeMapTiming()

◆ interruptModule()

◆ respond()

◆ saliencyLeakyIntegration()

◆ saliencyNormalize()

◆ saliencyPointing()

◆ saliencyTopDown()

◆ saliencyWaving()

◆ updateModule()

Member Data Documentation

◆ checkPointing

◆ checkWaving

◆ dBurstOfPointing

◆ dthresholdAppear

◆ dthresholdDisappear

◆ handlerPort

◆ iCub

◆ initTime

◆ isPointing

◆ isWaving

◆ lastTimePointing

◆ lastTimeWaving

◆ leftHandt1

◆ leftHandt2

◆ OPCEntities

◆ pExponentialDecrease

◆ presentCurrentSpeed

◆ presentLastSpeed

◆ presentLeftHand

◆ presentObjectsLastStep

◆ presentRightHand

◆ pTopDownAccelerationCoef

◆ pTopDownAppearanceBurst

◆ pTopDownDisappearanceBurst

◆ pTopDownWaving

◆ rightHandt1

◆ rightHandt2

◆ thresholdMovementAccelAgent

◆ thresholdMovementAccelObject

◆ thresholdPointing

◆ thresholdSaliency

◆ thresholdWaving