00001 /*!@file Robots/Beobot2/Navigation/FOE_Navigation/MotionOps.H 00002 various motion related functions. 00003 For example: Lucas&Kanade, Horn&Schunck optical flow */ 00004 // //////////////////////////////////////////////////////////////////// // 00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00006 // University of Southern California (USC) and the iLab at USC. // 00007 // See http://iLab.usc.edu for information about this project. // 00008 // //////////////////////////////////////////////////////////////////// // 00009 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00010 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00011 // in Visual Environments, and Applications'' by Christof Koch and // 00012 // Laurent Itti, California Institute of Technology, 2001 (patent // 00013 // pending; application number 09/912,225 filed July 23, 2001; see // 00014 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00015 // //////////////////////////////////////////////////////////////////// // 00016 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00017 // // 00018 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00019 // redistribute it and/or modify it under the terms of the GNU General // 00020 // Public License as published by the Free Software Foundation; either // 00021 // version 2 of the License, or (at your option) any later version. // 00022 // // 00023 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00024 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00025 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00026 // PURPOSE. See the GNU General Public License for more details. // 00027 // // 00028 // You should have received a copy of the GNU General Public License // 00029 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00030 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00031 // Boston, MA 02111-1307 USA. // 00032 // //////////////////////////////////////////////////////////////////// // 00033 // 00034 // Primary maintainer for this file: Christian Siagian <siagian@caltech.edu> 00035 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/Beobot2/Navigation/FOE_Navigation/MotionOps.H $ 00036 // $Id: $ 00037 00038 // ###################################################################### 00039 00040 #ifndef MOTIONOPS_H_DEFINED 00041 #define MOTIONOPS_H_DEFINED 00042 00043 #include "Image/Image.H" 00044 #include "Image/Pixels.H" 00045 #include "Raster/Raster.H" 00046 #include "Robots/Beobot2/Navigation/FOE_Navigation/OpticalFlowTypes.H" 00047 00048 #include "Robots/Beobot2/Navigation/FOE_Navigation/OpticalFlow.H" 00049 00050 // ###################################################################### 00051 00052 // FIXXXXXX: To do: 00053 // Horn & Schunck implementation 00054 // 00055 00056 //! get clean optical flow using: 00057 //! o(x,y) = 1/Z(x,y)*A(x,y)Trans + B(x,y)Rot 00058 rutz::shared_ptr<OpticalFlow> getCleanOpticFlow(Image<byte> img); 00059 void saveCleanOpticFlow(Image<byte> img); 00060 00061 //! get the Lucas Kanade optic flow for motion 00062 //! from image1 to image2 00063 rutz::shared_ptr<OpticalFlow> getLucasKanadeOpticFlow 00064 (Image<byte> image1, Image<byte> image2); 00065 00066 //! draw the optic flow given a set of correspondences 00067 Image<PixRGB<byte> > drawOpticFlow 00068 (Image<PixRGB<byte> > img, rutz::shared_ptr<OpticalFlow> flow); 00069 00070 // ###################################################################### 00071 /* So things look consistent in everyone's emacs... */ 00072 /* Local Variables: */ 00073 /* indent-tabs-mode: nil */ 00074 /* End: */ 00075 00076 #endif // !MOTIONOPS_H_DEFINED
1.6.3