00001 /*!@file MBARI/FOEestimator.H a class for estimating the focus of expansion 00002 in a video 00003 */ 00004 // //////////////////////////////////////////////////////////////////// // 00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2002 // 00006 // by the 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: Dirk Walther <walther@caltech.edu> 00035 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/MBARI/FOEestimator.H $ 00036 // $Id: FOEestimator.H 4663 2005-06-23 17:47:28Z rjpeters $ 00037 // 00038 00039 #ifndef FOEESTIMATOR_H_DEFINED 00040 #define FOEESTIMATOR_H_DEFINED 00041 00042 #include "Image/ImageCache.H" 00043 #include "MBARI/Geometry2D.H" 00044 #include "Util/Types.H" 00045 00046 // ###################################################################### 00047 //! compute the focus of expansion (FOE) from the pixel-based optical flow 00048 class FOEestimator 00049 { 00050 public: 00051 00052 //! constructor 00053 /*!@param numAvg the number of frames used for averaging to get a smooth estimate 00054 @param pyramidLevel the subsampling level at which to compute the optical flow*/ 00055 FOEestimator(int numAvg = 20, int pyramidLevel = 0); 00056 00057 // default =, copy and destr. okay 00058 00059 //! update with a new frame of the movie sequence 00060 /*!@return if the cache contains less than three frames, an invalid Vector2D 00061 is returned, otherwise the estimated location of the FOE is returned*/ 00062 Vector2D updateFOE(const Image<byte>& img, const Rectangle region); 00063 00064 //! update with a new frame of the movie sequence 00065 /*!@return if the cache contains less than three frames, an invalid Vector2D 00066 is returned, otherwise the estimated location of the FOE is returned*/ 00067 Vector2D updateFOE(const Image<byte>& img); 00068 00069 //! returns the last estimate of the FOA 00070 Vector2D getFOE(); 00071 00072 private: 00073 float getZeroCrossing(const Image<float>& vec); 00074 00075 const int itsPyrLevel; 00076 ImageCache<byte> itsFrames; 00077 ImageCacheAvg<float> itsXvectors, itsYvectors; 00078 Vector2D itsFOE; 00079 }; 00080 00081 00082 #endif 00083 00084 // ###################################################################### 00085 /* So things look consistent in everyone's emacs... */ 00086 /* Local Variables: */ 00087 /* indent-tabs-mode: nil */ 00088 /* End: */
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