Package edu.tufts.hrilab.vision

Interface VisionInterface

All Superinterfaces:
VisionInterface
All Known Subinterfaces:
MockVisionInterface
All Known Implementing Classes:
MockVisionComponent, VisionComponent
public interface VisionInterface extends VisionInterface
Interface for the DIARC Vision Component. This adds functionality that doesn't exist in edu.tufts.hrilab.interfaces.VisionComponent and is only available in the "real" VisionComponent.

  • Method Details

    • pauseCapture

      void pauseCapture()

    • resumeCapture

      void resumeCapture()

    • stopAllSearches

      void stopAllSearches()

    • restartAllStoppedSearches

      void restartAllStoppedSearches()

    • nameDescriptors

      boolean nameDescriptors(List<? extends Symbol> descriptors, Symbol typeName)
      Name the collection of Predicate descriptors. The descriptors must belong to a single SearchManager that already exists, or an attempt to create a new SearchManager matching the descriptors will be made. The description must match the SearchManager description exactly.
      Parameters:
      descriptors - Predicate description of object
      typeName - Predicate name of object (name will be bound to typeId in VisionComponent)
      Returns:
      true if descriptors map to an existing typeId, false otherwise

    • getUnsatisfiableConstraints

      List<Symbol> getUnsatisfiableConstraints(List<? extends Symbol> descriptors)
      Find what part(s) of the requested descriptors vision doesn't know how to process.
      Parameters:
      descriptors -
      Returns:
      list of (possibly empty) unsatisfiable constraints

    • getUnsatisfiableConstraints

      List<Symbol> getUnsatisfiableConstraints(Symbol descriptor)
      Find what part(s) of the requested descriptor vision doesn't know how to process.
      Parameters:
      descriptor -
      Returns:
      list of (possibly empty) unsatisfiable constraints

    • learn

      boolean learn(Term learningTerm, List<Map<Variable,Symbol>> bindings)
      Use the passed in term to learn a new descriptor. The term must have two arguments, the first arg 'describing' the new thing-to-learn, and the second arg 'naming' the new thing-to-learn. The description must be composed entirely of things vision already knows about.
      Parameters:
      learningTerm - term specifying the kind of learning to do (e.g., instanceOf(X,Y), definitionOf(X,Y))
      bindings - variable bindings to any variables in query term
      Returns:
      if thing-to-learn was successfully learned

    • unlearn

      boolean unlearn(Term learningTerm, List<Map<Variable,Symbol>> bindings)
      Un-learns things that have been learned by the learn method.
      Parameters:
      learningTerm -
      bindings -
      Returns:

    • getAvailableTypeIds

      List<Long> getAvailableTypeIds()
      Get List of all SearchManager IDs in long term memory.
      Returns:
      List of MemoryObjectType IDs

    • startType

      void startType(long typeId)
      Start detecting/tracking specified SearchManager.
      Parameters:
      typeId -

    • stopType

      void stopType(long typeId)
      Stop detecting/tracking specified SearchManager.
      Parameters:
      typeId -

    • getFrame

      byte[] getFrame()
      Return the camera's last frame in a byte array.
      Returns:
      the image in a byte array

    • getDisparityFrame

      byte[] getDisparityFrame()
      Return the camera's last disparity frame in a byte array.
      Returns:

    • getDepthFrame

      byte[] getDepthFrame()
      Return the camera's last depth frame in a byte array.
      Returns:

    • takeSnapshot

      void takeSnapshot(String filename)
      Save the current frame to file (e.g., for logging).
      Parameters:
      filename -

    • getImageSize

      Dimension getImageSize()
      Returns the size of the image being used.
      Returns:
      Dimension containing the size

    • makeObservations

      List<Map<Variable,Symbol>> makeObservations(Term observation)
      Entry point in vision for making world observations.
      Parameters:
      observation - single term specifying observation to make
      Returns:
      bindings for any free variables in observation term

    • getMyGroups

      List<String> getMyGroups()