DisparityChannel.H

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

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// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   //
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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       //
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// Primary maintainer for this file:
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Channels/DisparityChannel.H $
// $Id: DisparityChannel.H 7434 2006-11-11 02:15:19Z rjpeters $
//

#ifndef DISPARITYCHANNEL_H_DEFINED
#define DISPARITYCHANNEL_H_DEFINED

#include "Channels/SingleChannel.H"

// ######################################################################
//! An disparity channel
class DisparityChannel : public SingleChannel
{
public:

  //! Construct with standard params plus a disparity index for this object.
  /*! @param dIndex is used for various indexing such as with ParamMap
    and Jet interfacing.
    @param ang is the preferred orientation disparity for this channel, in
      degrees (0..180).
    @param pha is the preferred phase disparity for this channel, in
      degrees (0..360). */
  DisparityChannel(OptionManager& mgr, const uint dIndex, const double ang,
                   const double pha);

  //! Destructor
  virtual ~DisparityChannel();

  //! Get the preferred orientation (in degrees) of this channel.
  double angle() const;

  //! Get the preferred phase (in degrees) of this channel.
  double phase() const;

  //! set the raw filtered images from stereo channel to avoid redundancy
  void setRawFilteredImages(Image<float> ***fImgLE, Image<float> ***fImgRI);

  //! access to the raw filtered images for easy viewing
  void getRawFilteredImages(Image<float> ****fImgLE,Image<float> ****fImgRI);

  //! access to the disparity even before stored in the queue (SingleChannel)
  void getDispMap(ImageSet<float> *dMap);

  //!  normalize the disparity map to [0, 1]
  void normalizeDispMap(ImageSet<float> tDispMap, int nChan);

  //! to get the dimensions of the raw filtered images from stereo channel
  void setNumPhase(int n);
  void setNumTheta(int t);

  //! perform the disparity calculation
  void doInput(const InputFrame& inframe);

  void storePyramid(const SimTime& t);

  //! overload start1()
  void start1();

protected:
  NModelParam<uint>   itsIndex;
  NModelParam<double> itsOrientation;
  NModelParam<double> itsPhase;

private:

  Image<float> ***fImgL;
  Image<float> ***fImgR;

  ImageSet<float> dispMap;

  uint depth, nPhase, nTheta;

  const static float period   =  5.0;
};

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

#endif // DISPARITYCHANNEL_H_DEFINED