LineFitting.C

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00001 /*!@file plugins/SceneUnderstanding/LineFitting.C  */
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: Lior Elazary <elazary@usc.edu>
00034 // $HeadURL: $
00035 // $Id: $
00036 //
00037 
00038 #ifndef LineFitting_C_DEFINED
00039 #define LineFitting_C_DEFINED
00040 
00041 #include "Image/OpenCVUtil.H" //Need to be first to avoid type def conf
00042 #include "plugins/SceneUnderstanding/LineFitting.H"
00043 #include "plugins/SceneUnderstanding/V2.H"
00044 
00045 #include "Image/DrawOps.H"
00046 #include "Raster/Raster.H"
00047 #include "Simulation/SimEventQueue.H"
00048 #include "GUI/DebugWin.H"
00049 #include "plugins/SceneUnderstanding/LFLineFitter/LFLineFitter.h"
00050 
00051 
00052 const ModelOptionCateg MOC_LineFitting = {
00053   MOC_SORTPRI_3,   "LineFitting-Related Options" };
00054 
00055 // Used by: SimulationViewerEyeMvt
00056 const ModelOptionDef OPT_LineFittingShowDebug =
00057   { MODOPT_ARG(bool), "LineFittingShowDebug", &MOC_LineFitting, OPTEXP_CORE,
00058     "Show debug img",
00059     "linefitting-debug", '\0', "<true|false>", "false" };
00060 
00061 //Define the inst function name
00062 SIMMODULEINSTFUNC(LineFitting);
00063 
00064 
00065 // ######################################################################
00066 LineFitting::LineFitting(OptionManager& mgr, const std::string& descrName,
00067     const std::string& tagName) :
00068   SimModule(mgr, descrName, tagName),
00069   SIMCALLBACK_INIT(SimEventV1Output),
00070   SIMCALLBACK_INIT(SimEventInputFrame),
00071   SIMCALLBACK_INIT(SimEventSaveOutput),
00072   itsShowDebug(&OPT_LineFittingShowDebug, this)
00073 {
00074 }
00075 
00076 // ######################################################################
00077 LineFitting::~LineFitting()
00078 {
00079 }
00080 
00081 // ######################################################################
00082 void LineFitting::onSimEventV1Output(SimEventQueue& q,
00083                                   rutz::shared_ptr<SimEventV1Output>& e)
00084 {
00085   //itsV1EdgesState = e->getEdgesState();
00086 
00087   //evolve(q);
00088 }
00089 
00090 
00091 // ######################################################################
00092 void LineFitting::onSimEventInputFrame(SimEventQueue& q,
00093                                   rutz::shared_ptr<SimEventInputFrame>& e)
00094 {
00095   // here is the inputs image:
00096   GenericFrame frame = e->frame();
00097 
00098   itsInImage = frame.asRgb();
00099 
00100   evolve(q);
00101 }
00102 
00103 void LineFitting::evolve(SimEventQueue& q)
00104 {
00105 
00106   Image<float> edges = luminance(itsInImage);
00107   itsLines = FitLine(edges);
00108 
00109   q.post(rutz::make_shared(new SimEventV2Output(this, itsLines, itsInImage.getDims())));
00110 
00111 }
00112 
00113 
00114 std::vector<V2::LineSegment> LineFitting::FitLine(const Image<float>& edges)
00115 {
00116   std::map<int,Point2D<int> > edgesMap;
00117 
00118   LFLineFitter lf;
00119   lf.Configure("para_line_fitter.txt");
00120         lf.Init();
00121         lf.FitLine(img2ipl(edges));
00122 
00123   int nLines = lf.rNLineSegments();
00124   LFLineSegment* lineSegmentMap = lf.rOutputEdgeMap();
00125 
00126   LFLineSegment* lines = new LFLineSegment[nLines];
00127 
00128   std::vector<V2::LineSegment> lineSegments;
00129   for (int i=0 ; i<nLines ; i++)
00130   {
00131     lines[i] = lineSegmentMap[i];
00132     lineSegments.push_back(V2::LineSegment(
00133         Point2D<float>(lines[i].sx_, lines[i].sy_),
00134         Point2D<float>(lines[i].ex_, lines[i].ey_)));
00135   }
00136 
00137   return lineSegments;
00138 
00139 
00140 }
00141 
00142 
00143 // ######################################################################
00144 void LineFitting::onSimEventSaveOutput(SimEventQueue& q,
00145     rutz::shared_ptr<SimEventSaveOutput>& e)
00146 {
00147   if (itsShowDebug.getVal())
00148     {
00149       // get the OFS to save to, assuming sinfo is of type
00150       // SimModuleSaveInfo (will throw a fatal exception otherwise):
00151       nub::ref<FrameOstream> ofs =
00152         dynamic_cast<const SimModuleSaveInfo&>(e->sinfo()).ofs;
00153       Layout<PixRGB<byte> > disp = getDebugImage();
00154       if (disp.initialized())
00155         ofs->writeRgbLayout(disp, "LineFitting", FrameInfo("LineFitting", SRC_POS));
00156     }
00157 }
00158 
00159 
00160 Layout<PixRGB<byte> > LineFitting::getDebugImage()
00161 {
00162 
00163   Layout<PixRGB<byte> > disp;
00164 
00165   Image<PixRGB<byte> > tmp = itsInImage;
00166   for(uint i=0; i<itsLines.size(); i++)
00167     drawLine(tmp, (Point2D<int>)itsLines[i].p1, (Point2D<int>)itsLines[i].p2, PixRGB<byte>(0,255,0));
00168 
00169   disp = hcat(itsInImage, tmp);
00170 
00171   usleep(10000);
00172   return disp;
00173 
00174 
00175 }
00176 
00177 #endif
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