DirectionSpatioTemporalChannel.H

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/*!@file Channels/DirectionSpatioTemporalChannel.H */

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// in Visual Environments, and Applications'' by Christof Koch and      //
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#ifndef DIRECTIONSPATIOTEMPORALCHANNEL_H_DEFINED
#define DIRECTIONSPATIOTEMPORALCHANNEL_H_DEFINED

#include "Channels/SingleChannel.H"
#include "Robots/Beobot2/Navigation/FOE_Navigation/SpatioTemporalEnergy.H"


#include "rutz/shared_ptr.h"

// ######################################################################
//! a motion sensitive channel with direction selectivity
//! uses spatiotemporal filters
class DirectionSpatioTemporalChannel : 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 the pyramid used for computing
    SpatioTemporal Energy. */
  DirectionSpatioTemporalChannel
  (OptionManager& mgr, 
   const uint dirIndex, 
   const uint speedIndex,
   const double direction, 
   const double speed,
   const PyramidType type);

  //! Destructor
  virtual ~DirectionSpatioTemporalChannel();

  //! Special version of computePyramid()
  virtual ImageSet<float> computePyramid
  (const Image<float>& bwimg,
   const rutz::shared_ptr<PyramidCache<float> >& cache);

  ImageSet<float> getSpatioTemporalEnergy();

  void setMTfeatureMap(Image<float> mtFeat);

  Image<float> getRawCSmap(const uint idx) const;

protected:

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

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

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

  //! spatiotemporal energy maps
  ImageSet<float> itsSpatioTemporalEnergy;
  rutz::shared_ptr<SpatioTemporalEnergyPyrBuilder<float> > 
  itsSpatioTemporalPyrBuilder; 

  //! the final MT feature map
  //! this is after the directional competition
  Image<float> itsMTfeatureMap;
};

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

#endif // DIRECTIONSPATIOTEMPORALCHANNEL_H_DEFINED