MotionOpticalFlowChannel.H

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

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// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   //
// by the University of Southern California (USC) and the iLab at USC.  //
// See http://iLab.usc.edu for information about this project.          //
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// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
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// //////////////////////////////////////////////////////////////////// //
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// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
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// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Channels/MotionOpticalFlowChannel.H $
// $Id: $
//

#ifndef MOTION_OPTICALFLOW_CHANNEL_H_DEFINED
#define MOTION_OPTICALFLOW_CHANNEL_H_DEFINED

#include "Channels/ComplexChannel.H"
#include "rutz/shared_ptr.h"

#include "Robots/Beobot2/Navigation/FOE_Navigation/MotionOps.H"
#include "Robots/Beobot2/Navigation/FOE_Navigation/FoeDetector.H"

#include "Channels/DirectionOpticalFlowChannel.H"

class DirectionOpticalFlowChannel;

// ######################################################################
//! A composite channel containing 
//! a set of directional optical flow sub-channels
class MotionOpticalFlowChannel : public ComplexChannel
{
public:
  //! Construct
  MotionOpticalFlowChannel(OptionManager& mgr);

  //! destructor
  virtual ~MotionOpticalFlowChannel();

  //! returns a specific DirectionOpticalFlowChannel
  virtual DirectionOpticalFlowChannel& dirChan(const uint idx) const;

  //! Overload so that we can reconfigure when our params get changed
  virtual void paramChanged(ModelParamBase* const param,
                            const bool valueChanged,
                            ParamClient::ChangeStatus* status);

  //! Form output by combining output of subchannels.
  //! Sums the outputs of the subchannels and then optionally
  //! maxNormalize()'s the result
  virtual Image<float> getOutput();

protected:
  //! type of optical flow algorithm
  //! to use in our DirectionOpticalFlowChannel subcomponents
  OModelParam<OpticalFlowType> itsOpticalFlowType;

  //! number of DirectionOpticalFlowChannel subcomponents
  OModelParam<uint> itsNumDirs;

  //! its Focus of Expansion detector
  nub::ref<FoeDetector> itsFoeDetector;

  //! (re-)build our subchannels
  virtual void buildSubChans();

  //! MotionSpatioTemporalChannel only required luminosity input
  virtual void doInput(const InputFrame& inframe);
  void computeConspicuityMap();

  //! the current input image
  Image<byte> itsCurrentImage;

  //! the previous input image
  Image<byte> itsPreviousImage;

  //! the various directional sub-channels
  std::vector<nub::ref<DirectionOpticalFlowChannel> >
  itsDirectionOpticalFlowChannels; 

  //! stores the optical flow features 
  rutz::shared_ptr<OpticalFlow> itsOpticalFlow;

  //! the current conspicuity map
  Image<float> itsConspicuityMap;

  rutz::shared_ptr<XWinManaged> itsWin;
};

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

#endif // MOTION_OPTICALFLOW_CHANNEL_H_DEFINED