RetinaOSGUtil.H

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/*!@file PointCloud/RetinaOSGUtil.H Open Scene Graph Utils */

// //////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003   //
// by the University of Southern California (USC) and the iLab at USC.  //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: T. Nathan Mundhenk <mundhenk@usc.edu>
// $HeadURL: svn://ilab.usc.edu/trunk/saliency/src/Neuro/Retina.H $
// $Id: Retina.H 10217 2008-03-02 06:17:21Z mundhenk $
//

#ifndef RETINAOSGUTIL_H_DEFINED
#define RETINAOSGUTIL_H_DEFINED


#ifndef HAVE_OSG
#ifndef SKIP_ALL_OSG
#define SKIP_ALL_OSG
#endif
#endif

#include "GUI/OSGText.H"
#include "GUI/OSGUtil.H"
#include "GUI/OSGViewUtil.H"
#include "PointCloud/VirtualVoxel.H"
#include <string>

#ifndef SKIP_ALL_OSG
#include <osg/Camera>
#include <osg/CameraNode>

#include <osgViewer/CompositeViewer>

#include <osgUtil/Optimizer>
#include <osgUtil/SceneView>
#include <osgDB/ReadFile>

#include "extra/URGENT/LabelGroundTruth/BaseComponent.h"
#include "extra/URGENT/LabelGroundTruth/config.h"
#include "extra/URGENT/LabelGroundTruth/RecolorPts.h"
#include "extra/URGENT/LabelGroundTruth/RenderPts.h"
#include "extra/URGENT/LabelGroundTruth/ronKeyboard.h"
#include "extra/URGENT/LabelGroundTruth/ronTrackball.h"
#include "extra/URGENT/LabelGroundTruth/SnapShot.h"
#include "extra/URGENT/LabelGroundTruth/Terrain.h"


//! Retina OSG related methods moved here to clean retina
class RetinaOSGUtil : public OSGViewUtil
{
public:
  RetinaOSGUtil();
  ~RetinaOSGUtil();  
  
  //! Read in input from URGENT data format
  void readURGENTData(RenderPts& pts, Config& config, 
                      const std::string file) const;

  //! Dump debug data about world positioning etc.
  void printWorldData(RonTrackball &trackball) const;

  //! Handel an error
  std::string handelError(OSGenum::Error error_enum, std::string extra) const;

  //! Set up all four cameras in OSG retina
  void setUpCameras(OSGViewUtil& util,
                    GLenum& buffer,
                    osgViewer::CompositeViewer& viewer,  
                    osg::ref_ptr<osg::GraphicsContext::Traits>& traits,
                    osg::ref_ptr<osg::GraphicsContext> &gc,
                    OSGView& baseView,  OSGView& locationView,
                    OSGView& depthView, OSGView& salientView,
                    const OSGenum::DepthType depthType,
                    const std::string WINDOW_NAME) const;

  //! Set up all point sets in OSG retina
  void setUpPoints(const bool decimatePoints,
                   const bool desatGround,
                   const int  decimateBins,
                   const OSGenum::DepthType depthType,
                   RecolorPts&  recolorPts,
                   OSGViewUtil& util,
                   RenderPts&   points,
                   OSGView& baseView,  OSGView& locationView,
                   OSGView& depthView, OSGView& salientView,
                   OSGRetinaPts& salientPts,
                   OSGRetinaPts& newSalientPts,
                   OSGRetinaPts& airLocationPts, 
                   OSGRetinaPts& groundLocationPts,
                   OSGRetinaPts& airDepthPts,
                   OSGRetinaPts& groundDepthPts,
                   OSGRetinaPts& decimatePts,
                   OSGRetinaPts& decimateLocatePts,
                   OSGTextSet&   textSet) const; 

  //! Get some help menu text to put in a window
  void setHelpMenuText(OSGViewUtil& util,
                       OSGTextSet&  textSet) const;

protected: 
  using OSGViewUtil::printTime;
  using OSGViewUtil::resetTime;
  using OSGViewUtil::itsName;
  using OSGViewUtil::itsOptimizer; 
  using OSGViewUtil::itsTimer;
  using OSGViewUtil::itsT0;
  using OSGViewUtil::itsT1;
  using OSGViewUtil::itsT2;
  using OSGViewUtil::itsT3;
  using OSGViewUtil::itsGiveTimeSlice;
  using OSGViewUtil::itsSnapShotImage;
  using OSGViewUtil::itsGLImage;
};
    
#endif //SKIP_ALL_OSG
#endif

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