DisparityChannel.H

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00001 /*!@file Channels/DisparityChannel.H */
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 // //////////////////////////////////////////////////////////////////// //
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00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file:
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Channels/DisparityChannel.H $
00035 // $Id: DisparityChannel.H 7434 2006-11-11 02:15:19Z rjpeters $
00036 //
00037 
00038 #ifndef DISPARITYCHANNEL_H_DEFINED
00039 #define DISPARITYCHANNEL_H_DEFINED
00040 
00041 #include "Channels/SingleChannel.H"
00042 
00043 // ######################################################################
00044 //! An disparity channel
00045 class DisparityChannel : public SingleChannel
00046 {
00047 public:
00048 
00049   //! Construct with standard params plus a disparity index for this object.
00050   /*! @param dIndex is used for various indexing such as with ParamMap
00051     and Jet interfacing.
00052     @param ang is the preferred orientation disparity for this channel, in
00053       degrees (0..180).
00054     @param pha is the preferred phase disparity for this channel, in
00055       degrees (0..360). */
00056   DisparityChannel(OptionManager& mgr, const uint dIndex, const double ang,
00057                    const double pha);
00058 
00059   //! Destructor
00060   virtual ~DisparityChannel();
00061 
00062   //! Get the preferred orientation (in degrees) of this channel.
00063   double angle() const;
00064 
00065   //! Get the preferred phase (in degrees) of this channel.
00066   double phase() const;
00067 
00068   //! set the raw filtered images from stereo channel to avoid redundancy
00069   void setRawFilteredImages(Image<float> ***fImgLE, Image<float> ***fImgRI);
00070 
00071   //! access to the raw filtered images for easy viewing
00072   void getRawFilteredImages(Image<float> ****fImgLE,Image<float> ****fImgRI);
00073 
00074   //! access to the disparity even before stored in the queue (SingleChannel)
00075   void getDispMap(ImageSet<float> *dMap);
00076 
00077   //!  normalize the disparity map to [0, 1]
00078   void normalizeDispMap(ImageSet<float> tDispMap, int nChan);
00079 
00080   //! to get the dimensions of the raw filtered images from stereo channel
00081   void setNumPhase(int n);
00082   void setNumTheta(int t);
00083 
00084   //! perform the disparity calculation
00085   void doInput(const InputFrame& inframe);
00086 
00087   void storePyramid(const SimTime& t);
00088 
00089   //! overload start1()
00090   void start1();
00091 
00092 protected:
00093   NModelParam<uint>   itsIndex;
00094   NModelParam<double> itsOrientation;
00095   NModelParam<double> itsPhase;
00096 
00097 private:
00098 
00099   Image<float> ***fImgL;
00100   Image<float> ***fImgR;
00101 
00102   ImageSet<float> dispMap;
00103 
00104   uint depth, nPhase, nTheta;
00105 
00106   const static float period   =  5.0;
00107 };
00108 
00109 // ######################################################################
00110 /* So things look consistent in everyone's emacs... */
00111 /* Local Variables: */
00112 /* indent-tabs-mode: nil */
00113 /* End: */
00114 
00115 #endif // DISPARITYCHANNEL_H_DEFINED
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