00001 /*!@file RCBot/TrackFeature.H track a location using the saliency map and 00002 * template matching */ 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Lior Elazary <lelazary@yahoo.com> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/RCBot/TrackFeature.H $ 00035 // $Id: TrackFeature.H 9412 2008-03-10 23:10:15Z farhan $ 00036 // 00037 00038 #include "CMapDemo/SaliencyCMapMT.H" 00039 #include "Image/Image.H" 00040 #include "Image/CutPaste.H" 00041 #include "Util/Timer.H" 00042 00043 #ifndef TRACK_FEATURE_H 00044 #define TRACK_FEATURE_H 00045 00046 #define NAVG 20 00047 #define WINSIZE 25 00048 00049 //Tracking thread 00050 static omni_mutex trackMutex; 00051 static omni_mutex trackLocMutex; 00052 static omni_mutex trackImgMutex; 00053 static omni_condition trackCond(&trackMutex); 00054 00055 class TrackFeature : public omni_thread 00056 { 00057 public: 00058 TrackFeature(nub::ref<SaliencyMT> insmt); 00059 ~TrackFeature(); 00060 void run(void *ptr); 00061 void calcFps(); 00062 float getFps(); 00063 void setImg(Image<PixRGB<byte> > &inImg); 00064 void setTrackLoc(Point2D<int> &inTrackLoc, 00065 Image<PixRGB<byte> > &img); 00066 Point2D<int> getTrackLoc(); 00067 void updateTemplate(); 00068 00069 private: 00070 bool doneTracking; 00071 Image<PixRGB<byte> > img; 00072 nub::ref<SaliencyMT> smt; 00073 Point2D<int> lastWinner; 00074 Point2D<int> trackLoc; 00075 float templThresh; 00076 Timer timer; 00077 ImageSet<float> bias; 00078 ImageSet<float> newBias; 00079 int width, height; 00080 00081 // fps calculation 00082 uint64 avgtime; 00083 int avgn; 00084 float fps; 00085 }; 00086 #endif 00087 00088 // ###################################################################### 00089 /* So things look consistent in everyone's emacs... */ 00090 /* Local Variables: */ 00091 /* indent-tabs-mode: nil */ 00092 /* End: */
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