BeobotVisualCortex.H

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00001 /*!@file Beobot/BeobotVisualCortex.H Header for navigation class */
00002 
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: Laurent Itti <itti@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/BeobotVisualCortex.H $
00035 // $Id: BeobotVisualCortex.H 9412 2008-03-10 23:10:15Z farhan $
00036 //
00037 
00038 #ifndef BEOBOTVISUALCORTEX_H_DEFINED
00039 #define BEOBOTVISUALCORTEX_H_DEFINED
00040 
00041 #include "Beobot/ImageSpring.H"
00042 #include "Beowulf/Beowulf.H"
00043 #include "Beowulf/TCPmessage.H"
00044 #include "Channels/Jet.H"
00045 #include "Image/ImageSet.H"
00046 #include "Image/PyramidTypes.H"
00047 #include "Image/fancynorm.H"
00048 #include "Util/Assert.H"
00049 #include "Util/Types.H"
00050 #include "rutz/shared_ptr.h"
00051 
00052 //! Visual Cortex of a Beobot
00053 /*! this is no longer derived from VisualCortex
00054  it can be used with one CPU or SMP systems */
00055 class BeobotVisualCortex {
00056 public:
00057   //! constructor
00058   BeobotVisualCortex();
00059 
00060   //! initialization
00061   /*! use beow=NULL for single-CPU processing */
00062   void init(const int imgw, const int imgh, const int lev_min,
00063             const int lev_max, const int delta_min, const int delta_max,
00064             const int smlev, const int nborient, const MaxNormType normtype,
00065             const int jlev, const int jdepth, const int nbneig,
00066             nub::soft_ref<Beowulf> beow);
00067 
00068   //! present a new visual input from an existing image
00069   void newVisualInput(Image< PixRGB<byte> >& scene);
00070 
00071   //! get pointer to scene image, so that we can directly grab it
00072   Image< PixRGB<byte> >* getScenePtr();
00073 
00074   //! call this to execute all the low-level processing on current scene
00075   /*! This method will automatically parallelize the processing if
00076     a non-NULL beowulf was passed at initialization. However, it will
00077     call processStart() and processEnd() in sequence, waiting for the
00078     results to be ready before returning. It may be a better idea
00079     to separately call processStart(), do something, then processEnd().
00080     For single-CPU operation, process() is the only option. */
00081   void process(const int frame);
00082 
00083   //! start parallel processing by sending off current frame
00084   void processStart(const int frame);
00085 
00086   //! end parallel process by receiving results
00087   void processEnd(const int frame);
00088 
00089   //! not normally used; use process() instead
00090   void singleCPUprocess(const int frame);
00091 
00092   //! not normally used; use process() instead
00093   void masterProcess(const int frame);
00094 
00095   //! Call this in an infinite loop on slaves to process & return incoming maps
00096   void slaveProcess();
00097 
00098   //! not normally used; use process() instead
00099   void masterCollect();
00100 
00101   //! get most salient location:
00102   void getWinner(Point2D<int>& win) const;
00103 
00104   //! initialize clustering with "spring method"
00105   void initSprings( bool initPosMasses );
00106 
00107   //! iterate clustering with "spring method"
00108   void iterateSprings(const float dt);
00109 
00110   //! returns the clustered image and the position of the track centroid
00111   void getClusteredImage(Image< PixRGB<byte> >  &clusteredImage,
00112                          Point2D<int> &supposedTrackCentroid,
00113                          const Point2D<int> &previousTrackCentroid);
00114 
00115   //! get size of input image
00116   inline void getInputSize(Point2D<int>& size);
00117 
00118   //! get mass positions
00119   void getPositions(Image< PixRGB<byte> > &img, const int zoom);
00120 
00121 private:
00122   //! compute a feature for incoming image in message
00123   void computeFeature(TCPmessage &rmsg, const PyramidType ptyp,
00124                       const float ori, const int maptype);
00125 
00126   //! compute a feature for two incoming images in message
00127   void computeFeature2(TCPmessage &rmsg, const PyramidType ptyp,
00128                       const float ori, const int maptype);
00129 
00130   //! compute feature for given image
00131   void computeFeature(const Image<float>& fima, const PyramidType ptyp,
00132                       const float ori, const int id, const int maptype);
00133 
00134   //! compute conspicuity map given a pyramid
00135   void computeCmap(const ImageSet<float>& pyr, Image<float>& cmap);
00136 
00137   bool initialized;
00138 
00139   // the input scene (retinal image):
00140   Image< PixRGB<byte> > scene;
00141   Image<float> prevlum;   // luminance of previous scene, for flicker
00142   int currframe;
00143 
00144   // the segmented scene:
00145   ImageSpring< Jet<float> > jets;
00146   int nbjmap;
00147 
00148   // saliency map input:
00149   Image<float> sminput;
00150   int nbcmap;
00151   Point2D<int> winner;
00152 
00153   // for inter-CPU communication:
00154   nub::soft_ref<Beowulf> beo;
00155 
00156   // parameters:
00157   int iw, ih, lmin, lmax, dmin, dmax, sml, nori;
00158   MaxNormType nortyp;
00159   int jetlevel, jetdepth;
00160   int nbneigh;
00161   rutz::shared_ptr<JetSpec> jetSpec;
00162 };
00163 
00164 // ######################################################################
00165 inline void BeobotVisualCortex::getInputSize(Point2D<int>& size)
00166 {
00167   ASSERT(scene.initialized());
00168   size.i = scene.getWidth(); size.j = scene.getHeight();
00169 }
00170 
00171 #endif
00172 
00173 // ######################################################################
00174 /* So things look consistent in everyone's emacs... */
00175 /* Local Variables: */
00176 /* indent-tabs-mode: nil */
00177 /* End: */
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