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env_motion_channel.c
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1 /*!@file Envision/env_motion_channel.c */
2 
3 // //////////////////////////////////////////////////////////////////// //
4 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005 //
5 // by the University of Southern California (USC) and the iLab at USC. //
6 // See http://iLab.usc.edu for information about this project. //
7 // //////////////////////////////////////////////////////////////////// //
8 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
9 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
10 // in Visual Environments, and Applications'' by Christof Koch and //
11 // Laurent Itti, California Institute of Technology, 2001 (patent //
12 // pending; application number 09/912,225 filed July 23, 2001; see //
13 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). //
14 // //////////////////////////////////////////////////////////////////// //
15 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. //
16 // //
17 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can //
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19 // Public License as published by the Free Software Foundation; either //
20 // version 2 of the License, or (at your option) any later version. //
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22 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope //
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25 // PURPOSE. See the GNU General Public License for more details. //
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33 // Primary maintainer for this file: Rob Peters <rjpeters at usc dot edu>
34 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Envision/env_motion_channel.c $
35 // $Id: env_motion_channel.c 9830 2008-06-18 18:50:22Z lior $
36 //
37 
39 
45 
46 // ######################################################################
47 // env_motion_channel function definitions:
48 // ######################################################################
49 
50 // ######################################################################
52  const struct env_params* envp)
53 {
54  env_pyr_init_empty(&chan->unshifted_prev);
56  chan->shifted_prev = (struct env_pyr*)env_allocate(envp->num_motion_directions * sizeof(struct env_pyr));
57  for (env_size_t i = 0; i < envp->num_motion_directions; ++i) env_pyr_init_empty(&chan->shifted_prev[i]);
58 }
59 
60 // ######################################################################
62 {
64  for (env_size_t i = 0; i < chan->num_directions; ++i) env_pyr_make_empty(&chan->shifted_prev[i]);
66  chan->num_directions = 0;
67  chan->shifted_prev = 0;
68 }
69 
70 // ######################################################################
72  const char* tagName,
73  const struct env_params* envp,
74  const struct env_math* imath,
75  const struct env_dims inputdims,
76  struct env_pyr* unshiftedCur,
77  env_chan_status_func* status_func,
78  void* status_userdata,
79  struct env_image* result)
80 {
81  env_img_make_empty(result);
82 
83  if (chan->num_directions != envp->num_motion_directions)
84  {
86  env_motion_channel_init(chan, envp);
87  }
88 
89  if (chan->num_directions == 0) return;
90 
91  const env_size_t firstlevel = envp->cs_lev_min;
92  const env_size_t depth = env_max_pyr_depth(envp);
93 
94  struct env_image chanOut = env_img_initializer;
95 
96  char buf[17] =
97  {
98  'r', 'e', 'i', 'c', 'h', 'a', 'r', 'd', 't', // 0--8
99  '(', '_', '_', // 9--11
100  '/', '_', '_', ')', '\0' // 12--16
101  };
102 
103  ENV_ASSERT(chan->num_directions <= 99);
104 
105  buf[13] = '0' + (chan->num_directions / 10);
106  buf[14] = '0' + (chan->num_directions % 10);
107 
108  // compute Reichardt motion detection into several directions
109  for (env_size_t dir = 0; dir < chan->num_directions; ++dir)
110  {
111  // theta = (360.0 * i) / chan->num_directions;
112  const env_size_t thetaidx = (dir * ENV_TRIG_TABSIZ) / chan->num_directions;
113 
114  ENV_ASSERT(thetaidx < ENV_TRIG_TABSIZ);
115 
116  buf[10] = '0' + ((dir+1) / 10);
117  buf[11] = '0' + ((dir+1) % 10);
118 
119  // create an empty pyramid
120  struct env_pyr shiftedCur;
121  env_pyr_init(&shiftedCur, depth);
122 
123  // fill the empty pyramid with the shifted version
124  for (env_size_t i = firstlevel; i < depth; ++i)
125  {
126  env_img_resize_dims(env_pyr_imgw(&shiftedCur, i), env_pyr_img(unshiftedCur, i)->dims);
127  env_shift_image(env_pyr_img(unshiftedCur, i), imath->costab[thetaidx], -imath->sintab[thetaidx],
128  ENV_TRIG_NBITS, env_pyr_imgw(&shiftedCur, i));
129  }
130 
131  env_chan_direction(buf, envp, imath, inputdims, &chan->unshifted_prev, unshiftedCur,
132  &chan->shifted_prev[dir], &shiftedCur, status_func, status_userdata, &chanOut);
133 
134  env_pyr_swap(&chan->shifted_prev[dir], &shiftedCur);
135  env_pyr_make_empty(&shiftedCur);
136 
137  if (env_img_initialized(&chanOut))
138  {
139  if (!env_img_initialized(result))
140  {
141  env_img_resize_dims(result, chanOut.dims);
142  env_c_image_div_scalar(env_img_pixels(&chanOut), env_img_size(&chanOut), (intg32) chan->num_directions,
143  env_img_pixelsw(result));
144  }
145  else
146  {
147  ENV_ASSERT(env_dims_equal(chanOut.dims, result->dims));
148  env_c_image_div_scalar_accum(env_img_pixels(&chanOut), env_img_size(&chanOut), (intg32) chan->num_directions,
149  env_img_pixelsw(result));
150  }
151  }
152  }
153 
154  env_img_make_empty(&chanOut);
155 
156  if (env_img_initialized(result))
157  {
159  if (status_func) (*status_func)(status_userdata, tagName, result);
160  }
161 
162  ///// BEWARE THIS SEGFAULTS the other channels that need the pyr!! FIXME
163  env_pyr_swap(unshiftedCur, &chan->unshifted_prev);
164  env_pyr_make_empty(unshiftedCur);
165  // USE THIS INSEAD IF MULTITHREADED:
166  //env_pyr_copy_src_dst(unshiftedCur, &chan->unshifted_prev);
167 }
168 
#define INTMAXNORMMIN
Definition: env_image_ops.h:47
env_size_t num_motion_directions
Definition: env_params.h:49
struct env_pyr * shifted_prev
const intg16 * sintab
Definition: env_math.h:51
env_size_t cs_lev_min
Definition: env_params.h:54
void env_motion_channel_destroy(struct env_motion_channel *chan)
void env_img_make_empty(struct env_image *img)
Definition: env_image.c:56
Basic image class.
Definition: env_image.h:43
void env_deallocate(void *mem)
Definition: env_config.h:59
#define ENV_TRIG_TABSIZ
Definition: env_math.h:44
void env_motion_channel_init(struct env_motion_channel *chan, const struct env_params *envp)
A composite channel containing a set of direction channels.
#define ENV_TRIG_NBITS
Definition: env_math.h:45
#define env_img_initializer
Definition: env_image.h:49
void env_max_normalize_inplace(struct env_image *src, const intg32 mi, const intg32 ma, const enum env_maxnorm_type normtyp, const intg32 rangeThresh)
void env_pyr_init(struct env_pyr *pyr, const env_size_t n)
Construct with a given number of empty images.
Definition: env_pyr.c:41
void env_c_image_div_scalar_accum(const intg32 *const a, const env_size_t sz, intg32 val, intg32 *const dst)
result += a / val
struct env_pyr unshifted_prev
const intg16 * costab
Definition: env_math.h:52
struct env_dims dims
Definition: env_image.h:45
env_size_t depth
Definition: env_pyr.h:48
void env_motion_channel_input_and_consume_pyr(struct env_motion_channel *chan, const char *tagName, const struct env_params *envp, const struct env_math *imath, const struct env_dims inputdims, struct env_pyr *unshiftedCur, env_chan_status_func *status_func, void *status_userdata, struct env_image *result)
env_motion_channel only requires luminosity input
void * env_allocate(unsigned long nbytes)
Definition: env_config.h:58
void env_shift_image(const struct env_image *srcImg, const env_ssize_t dxnumer, const env_ssize_t dynumer, const env_size_t denombits, struct env_image *result)
#define INTMAXNORMMAX
Definition: env_image_ops.h:48
unsigned long env_size_t
Definition: env_types.h:71
void env_pyr_make_empty(struct env_pyr *dst)
Definition: env_pyr.c:51
env_size_t env_max_pyr_depth(const struct env_params *envp)
Definition: env_params.c:79
void env_img_resize_dims(struct env_image *img, const struct env_dims d)
Definition: env_image.c:64
ENV_INTG32_TYPE intg32
32-bit signed integer
Definition: env_types.h:52
enum env_maxnorm_type maxnorm_type
Definition: env_params.h:46
A simple struct to hold a pair of width/height dimensions.
Definition: env_types.h:80
void env_chan_direction(const char *tagName, const struct env_params *envp, const struct env_math *imath, const struct env_dims inputdims, const struct env_pyr *unshiftedPrev, const struct env_pyr *unshiftedCur, const struct env_pyr *shiftedPrev, const struct env_pyr *shiftedCur, env_chan_status_func *status_func, void *status_userdata, struct env_image *result)
A motion sensitive channel with direction selectivity.
Definition: env_channel.c:472
This class implements a set of images, often used as a dyadic pyramid.
Definition: env_pyr.h:45
intg32 range_thresh
Definition: env_params.h:47
void env_pyr_swap(struct env_pyr *pyr1, struct env_pyr *pyr2)
Swap contents with another env_pyr.
Definition: env_pyr.c:60
void env_c_image_div_scalar(const intg32 *const a, const env_size_t sz, intg32 val, intg32 *const dst)
result = a / val
void( env_chan_status_func)(void *userdata, const char *tagName, const struct env_image *img)
Definition: env_channel.h:55
#define ENV_ASSERT(expr)
Definition: env_log.h:63