DirectionOpticalFlowChannel.H

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/*!@file Channels/DirectionOpticalFlowChannel.H */
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// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   //
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// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
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// in Visual Environments, and Applications'' by Christof Koch and      //
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// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Channels/DirectionOpticalFlowChannel.H $
// $Id: $
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#ifndef DIRECTION_OPTICALFLOW_CHANNEL_H_DEFINED
#define DIRECTION_OPTICALFLOW_CHANNEL_H_DEFINED

#include "Channels/SingleChannel.H"

#include "Robots/Beobot2/Navigation/FOE_Navigation/MotionOps.H"

// ######################################################################
//! a motion sensitive channel with direction selectivity
//! using various optical flow algorithms
class DirectionOpticalFlowChannel : public SingleChannel
{
public:
  //! Constructor with some parameteres
  /*! @param dirIndex is the channel's index, used in Param and Jet access
    @param direction is the preferred direction in degrees (0..360)
    @param type the type of optical flow algorithm fed */
  DirectionOpticalFlowChannel
  (OptionManager& mgr,
   const uint dirIndex, const double direction, 
   const OpticalFlowType type);

  //! Destructor
  virtual ~DirectionOpticalFlowChannel();

  //! overload
  virtual bool outputAvailable() const;

  //! different ways to input different optical flow algorithms
  void setLucasKanadeOpticalFlow(rutz::shared_ptr<OpticalFlow> flow);
  //void setHornSchunckOpticalFlow();

  //! get the Optical flow for this direction
  Image<float> getDirectionalOpticalFlow();

protected:

  //! DirectionOpticalFlowChannel requires only luminance input.
  virtual void doInput(const InputFrame& inframe);

  void start1(); //!< get started
  void start2(); //!< get started

private:

  //! compute the Optical flow (whole map) for this direction
  void computeDirectionalOpticalFlow();

  //! compute the Optical flow (whole map) for this direction
  void computeDirectionalOpticalFlow
  (uint i, uint j, float val);

  //! compute the response difference between
  //! the inputed angle and the preferred direction
  float getResponseValue(float angle);

  NModelParam<uint> itsDirIndex;
  NModelParam<double> itsDirection;

  //! the optical flow algorithm that it uses
  OpticalFlowType itsOpticalFlowType;
 
  //! optical flow of the image
  rutz::shared_ptr<OpticalFlow> itsOpticalFlow;

  //! the resulting directional optical flow 
  //! that will be used for conspicuity map computation
  Image<float> itsDirectionalOpticalFlow;
};

// ######################################################################
/* So things look consistent in everyone's emacs... */
/* Local Variables: */
/* indent-tabs-mode: nil */
/* End: */

#endif // DIRECTION_OPTICALFLOW_CHANNEL_H_DEFINED