MotionSpatioTemporalChannel.H

Go to the documentation of this file.
00001 /*!@file Channels/MotionSpatioTemporalChannel.H */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   //
00005 // by the 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:
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Channels/MotionSpatioTemporalChannel.H $
00035 // $Id: $
00036 //
00037 
00038 #ifndef MOTIONSPATIOTEMPORALCHANNEL_H_DEFINED
00039 #define MOTIONSPATIOTEMPORALCHANNEL_H_DEFINED
00040 
00041 #include "Channels/ComplexChannel.H"
00042 #include "Image/PyramidTypes.H"
00043 #include "rutz/shared_ptr.h"
00044 
00045 #include "Robots/Beobot2/Navigation/FOE_Navigation/MiddleTemporal.H"
00046 #include "Robots/Beobot2/Navigation/FOE_Navigation/SpatioTemporalEnergy.H"
00047 #include "Robots/Beobot2/Navigation/FOE_Navigation/FoeDetector.H"
00048 
00049 #include "Channels/DirectionSpatioTemporalChannel.H"
00050 
00051 class DirectionSpatioTemporalChannel;
00052 
00053 // ######################################################################
00054 //! A composite channel containing a set of direction spatio temporal channels
00055 class MotionSpatioTemporalChannel : public ComplexChannel
00056 {
00057 public:
00058   //! Construct
00059   MotionSpatioTemporalChannel(OptionManager& mgr);
00060 
00061   //! destructor
00062   virtual ~MotionSpatioTemporalChannel();
00063 
00064   //! returns a specific DirectionSpatioTemporalChannel
00065   virtual DirectionSpatioTemporalChannel& dirChan(const uint idx) const;
00066 
00067   //! Overload so that we can reconfigure when our params get changed
00068   virtual void paramChanged(ModelParamBase* const param,
00069                             const bool valueChanged,
00070                             ParamClient::ChangeStatus* status);
00071 
00072   //! Form output by combining output of subchannels.
00073   //! Sums the outputs of the subchannels and then optionally
00074   //! maxNormalize()'s the result
00075   virtual Image<float> getOutput();
00076 
00077 protected:
00078   //! type of pyramid to use in our DirectionChannel subcomponents
00079   NModelParam<PyramidType> itsPyrType;
00080 
00081   //! number of DirectionSpatioTemporalChannel subcomponents
00082   OModelParam<uint> itsNumDirs;
00083   OModelParam<uint> itsNumSpeeds;
00084 
00085   //! its Medial Temporal module
00086   rutz::shared_ptr<MiddleTemporal> itsMT;
00087 
00088   //! its Focus of Expansion detector
00089   nub::ref<FoeDetector> itsFoeDetector;
00090 
00091   //! (re-)build our subchannels
00092   virtual void buildSubChans();
00093 
00094   //! MotionSpatioTemporalChannel only required luminosity input
00095   virtual void doInput(const InputFrame& inframe);
00096   void computeConspicuityMap();
00097 
00098   Image<float> getV1ObjectMotionMap();
00099   Image<float> getMTObjectMotionMap();
00100 
00101   Image<float> downSizeMax(Image<float> img, uint scale);
00102 
00103   //! the various directional pyrbuilders
00104   std::vector<std::vector<nub::ref<DirectionSpatioTemporalChannel> > >
00105   itsDirectionSpatioTemporalChannels; 
00106 
00107   //! raw motion energy for each direction
00108   std::vector<std::vector<ImageSet<float> > > itsRawSpatioTemporalEnergy;
00109   std::vector<ImageSet<float> > itsSpatioTemporalEnergy;
00110   std::vector<ImageSet<float> > itsSpatioTemporalEnergyOptimalShift;
00111 
00112   Image<byte> itsCurrentImage;
00113   Image<float> itsConspicuityMap;
00114 
00115   int itsCurrentFoeMapIndex;
00116  
00117   rutz::shared_ptr<XWinManaged> itsWin;
00118 };
00119 
00120 // ######################################################################
00121 /* So things look consistent in everyone's emacs... */
00122 /* Local Variables: */
00123 /* indent-tabs-mode: nil */
00124 /* End: */
00125 
00126 #endif // MOTIONSPATIOTEMPORALCHANNEL_H_DEFINED
Generated on Sun May 8 08:40:22 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3