ColorHistExtraction.h

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/* Copyright (C) 2005 Pierre Moisan (Pierre.Moisan@USherbrooke.ca) 

   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.
   
   This library 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
   Lesser General Public License for more details.
   
   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/
#ifndef _COLORHISTEXTRACTION_H_
#define _COLORHISTEXTRACTION_H_

#include "VisualFeaturesExtraction.h"
#include "VisualHistogramDesc.h"
#include "VisualTarget.h"
#include <stdlib.h>
#include <sys/timeb.h>

namespace RobotFlow {
//
// Color histogram Features Extraction for RobotFlow 
//
class ColorHistExtraction : public VisualFeaturesExtraction<double>
{ 
public:
        //
        // Default constructor for Object 
        //
        ColorHistExtraction();
        
        //
        // Constructor with complete intialisation
        //
        ColorHistExtraction(int i_width, int i_height, 
                int i_numChannels, const FD::Vector<int> *i_numBins);

        //
        // Copy constructor
        //
        ColorHistExtraction(const ColorHistExtraction& i_ref);

        //
        // BufferedNode constructor
        //
        ColorHistExtraction(std::string nodeName, FD::ParameterSet params);

        //
        // Constructor using input stream
        //
        ColorHistExtraction(std::istream &in)
        {
                readFrom(in);
        }
        
        virtual ~ColorHistExtraction();
        
        // Default routine to print a ColorHistExtraction object to an output stream
        void printOn(std::ostream &out) const
        {
                throw new FD::GeneralException("Exception in ColorHistExtraction::printOn: method not yet implemented.",__FILE__,__LINE__);
        }

        // Default routine to read a ColorHistExtraction object from an input stream
        void readFrom(std::istream &in)
        {
                throw new FD::GeneralException("Exception in ColorHistExtraction::readFrom: method not yet implemented.",__FILE__,__LINE__);
        }
        
        virtual void request(int output_id, const FD::ParameterSet &req);
        
        void calculate(int output_id, int count, FD::Buffer &out);
        
        void ExtractFeatures(VisualROI *i_roi);
        
        void ExtractFeatures(IplImage *i_input, VisualROI *i_roi);
        
        void EstimateMSLocation(const VisualTarget<double> *i_targetRef, 
                int i_descIdx, FD::Vector<double> *o_msLocVec);
        
        VisualFeatureDesc<double> *GetDescriptor()
        {
                return m_colorHistogram;
        }
        
        const VisualFeatureDesc<double> *GetCstDescriptor() const
        {
                return (const VisualHistogramDesc<double, unsigned char> *)m_colorHistogram;
        }

private:
        void Initialize(const FD::Vector<int> *i_numBins);

private:
        // Input IDs (for BufferedNode)
        int m_imageInID;
        int m_numBinsInID;
        int m_roiInID;
        int m_targetInID;
        int m_targetDescIdxInID;
        int m_useNextImgInID;
        
        // Output IDs (for BufferedNode)
        int m_featuresOutID;
        int m_msLocOutID;
        int m_ppCompletedOutID;
        
        // Width of images
        int m_width;
        // Height of images
        int m_height;
        // Number of channels in an image
        int m_numChannels;
        // Number of pixels in an image
        int m_numPixels;
        // Number of bytes in an image
        int m_numBytesInFrame;
        
        // Initialization flag
        bool m_init;
        
        // Histogram descriptor for region of interest
        VisualHistogramDesc<double, unsigned char> *m_colorHistogram; 
        
        // Function pointer to the appropriate private extraction routine
        void (ColorHistExtraction::*m_extractionFct)(unsigned char *);
        
        // Temporary image copy
        IplImage *m_curImage;
};

}

#endif

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