env_motion_channel.c

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/*!@file Envision/env_motion_channel.c */
 
// //////////////////////////////////////////////////////////////////// //
// 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.          //
// //////////////////////////////////////////////////////////////////// //
// 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      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Rob Peters <rjpeters at usc dot edu>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Envision/env_motion_channel.c $
// $Id: env_motion_channel.c 9830 2008-06-18 18:50:22Z lior $
//
 
#include <jevoisbase/Components/Saliency/env_motion_channel.h>
 
#include <jevoisbase/Components/Saliency/env_c_math_ops.h>
#include <jevoisbase/Components/Saliency/env_channel.h>
#include <jevoisbase/Components/Saliency/env_image_ops.h>
#include <jevoisbase/Components/Saliency/env_log.h>
#include <jevoisbase/Components/Saliency/env_params.h>
 
// ######################################################################
// env_motion_channel function definitions:
// ######################################################################
 
// ######################################################################
void env_motion_channel_init(struct env_motion_channel* chan,
                             const struct env_params* envp)
{
  env_pyr_init_empty(&chan->unshifted_prev);
  chan->num_directions = envp->num_motion_directions;
  chan->shifted_prev = (struct env_pyr*)env_allocate(envp->num_motion_directions * sizeof(struct env_pyr));
  for (env_size_t i = 0; i < envp->num_motion_directions; ++i) env_pyr_init_empty(&chan->shifted_prev[i]);
}
 
// ######################################################################
void env_motion_channel_destroy(struct env_motion_channel* chan)
{
  env_pyr_make_empty(&chan->unshifted_prev);
  for (env_size_t i = 0; i < chan->num_directions; ++i) env_pyr_make_empty(&chan->shifted_prev[i]);
  env_deallocate(chan->shifted_prev);
  chan->num_directions = 0;
  chan->shifted_prev = 0;
}
 
// ######################################################################
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_img_make_empty(result);
  
  if (chan->num_directions != envp->num_motion_directions)
  {
    env_motion_channel_destroy(chan);
    env_motion_channel_init(chan, envp);
  }
  
  if (chan->num_directions == 0) return;
  
  const env_size_t firstlevel = envp->cs_lev_min;
  const env_size_t depth = env_max_pyr_depth(envp);
  
  struct env_image chanOut = env_img_initializer;
  
  char buf[17] =
    {
      'r', 'e', 'i', 'c', 'h', 'a', 'r', 'd', 't', // 0--8
      '(', '_', '_', // 9--11
      '/', '_', '_', ')', '\0' // 12--16
    };
  
  ENV_ASSERT(chan->num_directions <= 99);
  
  buf[13] = '0' + (chan->num_directions / 10);
  buf[14] = '0' + (chan->num_directions % 10);
  
  // compute Reichardt motion detection into several directions
  for (env_size_t dir = 0; dir < chan->num_directions; ++dir)
  {
    // theta = (360.0 * i) / chan->num_directions;
    const env_size_t thetaidx = (dir * ENV_TRIG_TABSIZ) / chan->num_directions;
    
    ENV_ASSERT(thetaidx < ENV_TRIG_TABSIZ);
    
    buf[10] = '0' + ((dir+1) / 10);
    buf[11] = '0' + ((dir+1) % 10);
    
    // create an empty pyramid
    struct env_pyr shiftedCur;
    env_pyr_init(&shiftedCur, depth);
    
    // fill the empty pyramid with the shifted version
    for (env_size_t i = firstlevel; i < depth; ++i)
    {
      env_img_resize_dims(env_pyr_imgw(&shiftedCur, i), env_pyr_img(unshiftedCur, i)->dims);
      env_shift_image(env_pyr_img(unshiftedCur, i), imath->costab[thetaidx], -imath->sintab[thetaidx],
                      ENV_TRIG_NBITS, env_pyr_imgw(&shiftedCur, i));
    }
    
    env_chan_direction(buf, envp, imath, inputdims, &chan->unshifted_prev, unshiftedCur,
                       &chan->shifted_prev[dir], &shiftedCur, status_func, status_userdata, &chanOut);
    
    env_pyr_swap(&chan->shifted_prev[dir], &shiftedCur);
    env_pyr_make_empty(&shiftedCur);
    
    if (env_img_initialized(&chanOut))
    {
      if (!env_img_initialized(result))
      {
        env_img_resize_dims(result, chanOut.dims);
        env_c_image_div_scalar(env_img_pixels(&chanOut), env_img_size(&chanOut), (intg32) chan->num_directions,
                               env_img_pixelsw(result));
      }
      else
      {
        ENV_ASSERT(env_dims_equal(chanOut.dims, result->dims));
        env_c_image_div_scalar_accum(env_img_pixels(&chanOut), env_img_size(&chanOut), (intg32) chan->num_directions,
                                     env_img_pixelsw(result));
      }
    }
  }
  
  env_img_make_empty(&chanOut);
  
  if (env_img_initialized(result))
  {
    env_max_normalize_inplace(result, INTMAXNORMMIN, INTMAXNORMMAX, envp->maxnorm_type, envp->range_thresh);
    if (status_func) (*status_func)(status_userdata, tagName, result);
  }
 
  ///// BEWARE THIS SEGFAULTS the other channels that need the pyr!! FIXME
  env_pyr_swap(unshiftedCur, &chan->unshifted_prev);
  env_pyr_make_empty(unshiftedCur);
  // USE THIS INSEAD IF MULTITHREADED:
  //env_pyr_copy_src_dst(unshiftedCur, &chan->unshifted_prev);
}