[Robotflow-cvs] RobotFlow/Vision/src VisualROI.cc,1.4,1.5 VisualTargetManager.cc,1.4,1.5

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Update of /cvsroot/robotflow/RobotFlow/Vision/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6687

Modified Files:
	VisualROI.cc VisualTargetManager.cc 
Log Message:
Now using RCPtr to produce reference output instead of copying member data.

Index: VisualTargetManager.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Vision/src/VisualTargetManager.cc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** VisualTargetManager.cc	12 Apr 2005 19:58:10 -0000	1.4
--- VisualTargetManager.cc	26 May 2005 19:45:09 -0000	1.5
***************
*** 125,129 ****
  //
  VisualTargetManager::VisualTargetManager()
- : m_target(NULL)
  {

--- 125,128 ----
***************
*** 134,139 ****
  //
  VisualTargetManager::VisualTargetManager(std::string nodeName, ParameterSet params)
! : BufferedNode(nodeName, params), 
! m_target(NULL)
  {
  	m_imageInID = addInput("IMAGE_IN");
--- 133,137 ----
  //
  VisualTargetManager::VisualTargetManager(std::string nodeName, ParameterSet params)
! : BufferedNode(nodeName, params)
  {
  	m_imageInID = addInput("IMAGE_IN");
***************
*** 171,176 ****
  	m_curImage = cvCreateImage(imgSize, IPL_DEPTH_8U, m_numChannels);

! 	m_target = new VisualTarget<double>();
! 	m_refTarget = RCPtr<VisualTarget<double> >(m_target);

  	m_roiColor[0] = 255;
--- 169,173 ----
  	m_curImage = cvCreateImage(imgSize, IPL_DEPTH_8U, m_numChannels);

! 	m_refTarget = RCPtr<VisualTarget<double> >(new VisualTarget<double>());

  	m_roiColor[0] = 255;
***************
*** 181,185 ****
  VisualTargetManager::~VisualTargetManager()
  {
- 	delete m_target;
  	cvReleaseImage(&m_curImage);
  }
--- 178,181 ----
***************
*** 261,265 ****
  	try {
  		if (output_id == m_imageOutID) {
- 			fflush(stdout);
  			// Get current image
  			RCPtr<Image> imageRef = getInput(m_imageInID, count);
--- 257,260 ----
***************
*** 274,280 ****
  			memcpy(m_curImage->imageData, imageRef->get_data(), m_numBytesInFrame);

! 			if (m_target->IsValid()) {
  				// Draw current target's ROI in current image
! 				m_target->GetCstROI()->DrawROI(m_curImage, (const unsigned char *)m_roiColor);

  				// Copy current image for output
--- 269,275 ----
  			memcpy(m_curImage->imageData, imageRef->get_data(), m_numBytesInFrame);

! 			if (m_refTarget->IsValid()) {
  				// Draw current target's ROI in current image
! 				m_refTarget->GetCstROI()->DrawROI(m_curImage, (const unsigned char *)m_roiColor);

  				// Copy current image for output
***************
*** 300,311 ****
  		}
  		else if (output_id == m_roiOutID) {
! 			if (m_target->IsValid()) {
  				// Output directly the reference since it should
  				// only be used as a constant reference
! 				//VisualROI *outROI = new VisualROI(*(m_target->GetCstROI()));
! 				//(*outputs[m_roiOutID].buffer)[count] = ObjectRef(outROI);
! 				//(*outputs[m_roiOutID].buffer)[count] = ObjectRef(RCPtr<VisualROI>(m_target->GetROI()));
! 				static RCPtr<VisualROI> refROI = RCPtr<VisualROI>(m_target->GetROI());
! 				(*outputs[m_roiOutID].buffer)[count] = refROI;
  			}
  			else {
--- 295,302 ----
  		}
  		else if (output_id == m_roiOutID) {
! 			if (m_refTarget->IsValid()) {
  				// Output directly the reference since it should
  				// only be used as a constant reference
! 				(*outputs[m_roiOutID].buffer)[count] = m_refTarget->GetROIRCPtr();
  			}
  			else {
***************
*** 315,324 ****
  		}
  		else if (output_id == m_targetOutID) {
! 			if (m_target->IsValid()) {
  				// Output directly the reference since it should
  				// only be used as a constant reference
- 				//VisualTarget<double> *outTarget = new VisualTarget<double>(*m_target);
- 				//(*outputs[m_targetOutID].buffer)[count] = ObjectRef(outTarget);
- 				static RCPtr<VisualTarget<double> > refTarget = RCPtr<VisualTarget<double> >(m_target);
  				(*outputs[m_targetOutID].buffer)[count] = m_refTarget;
  			}
--- 306,312 ----
  		}
  		else if (output_id == m_targetOutID) {
! 			if (m_refTarget->IsValid()) {
  				// Output directly the reference since it should
  				// only be used as a constant reference
  				(*outputs[m_targetOutID].buffer)[count] = m_refTarget;
  			}
***************
*** 329,339 ****
  		}
  		else if (output_id == m_targetProbOutID) {
! 			if (m_target->GetCurrentAge() < -10) {
  				// Target is too old to track
  				// Invalidate it
! 				m_target->SetValidity(false);
  			}

! 			if (!m_target->IsValid()) {
  				// Try to initialize a new target
  				// Get detected ROI
--- 317,327 ----
  		}
  		else if (output_id == m_targetProbOutID) {
! 			if (m_refTarget->GetCurrentAge() < -10) {
  				// Target is too old to track
  				// Invalidate it
! 				m_refTarget->SetValidity(false);
  			}

! 			if (!m_refTarget->IsValid()) {
  				// Try to initialize a new target
  				// Get detected ROI
***************
*** 343,348 ****
  				if (!roiRef->isNil()) {
  					// Initialize target at current ROI
! 					m_target->SetROI(&(object_cast<VisualROI>(roiRef)));
! 					m_target->SetValidity(true);

  					if (!m_ppCompleted) {
--- 331,336 ----
  				if (!roiRef->isNil()) {
  					// Initialize target at current ROI
! 					m_refTarget->SetROI(&(object_cast<VisualROI>(roiRef)));
! 					m_refTarget->SetValidity(true);

  					if (!m_ppCompleted) {
***************
*** 354,369 ****
  					// Get features for current ROI and use them
  					// as the target feature model
! 					ObjectRef featVecRef = getInput(m_featVecInID, count);
! 					if (featVecRef->isNil()) {
  						throw new GeneralException ("VisualTargetManager::calculate : cannot initialize target with null input FEATURES_VECTOR.",__FILE__,__LINE__);
  					}
! 					
! 					m_target->SetDescriptorsVec(&(object_cast<Vector<VisualFeatureDesc<double> *> >(featVecRef)));
! 					m_target->InitCueWeights();
! 					m_target->InitAges();
  				}
  			}

! 			if (m_target->IsValid()) {
  				double sim = 0.0;
  				bool targetMatch = false;
--- 342,357 ----
  					// Get features for current ROI and use them
  					// as the target feature model
! 					ObjectRef featVecObjRef = getInput(m_featVecInID, count);
! 					if (featVecObjRef->isNil()) {
  						throw new GeneralException ("VisualTargetManager::calculate : cannot initialize target with null input FEATURES_VECTOR.",__FILE__,__LINE__);
  					}
! 					RCPtr<Vector<VisualFeatureDesc<double> *> > featVecRef = featVecObjRef;
! 					m_refTarget->SetDescriptorsVec(&(*featVecRef));
! 					m_refTarget->InitCueWeights();
! 					m_refTarget->InitAges();
  				}
  			}

! 			if (m_refTarget->IsValid()) {
  				double sim = 0.0;
  				bool targetMatch = false;
***************
*** 382,386 ****

  				if (!targetRef->isNil()) {
! 					*m_target = object_cast<VisualTarget<double> >(targetRef);

  					// Get features to evalute the likelihood of the current
--- 370,374 ----

  				if (!targetRef->isNil()) {
! 					*m_refTarget = object_cast<VisualTarget<double> >(targetRef);

  					// Get features to evalute the likelihood of the current
***************
*** 391,395 ****
  					}

! 					sim = m_target->SimilarityWCueAdapt(
  						&(object_cast<Vector<VisualFeatureDesc<double> *> >(featVecRef)), 
  						m_cueAdaptRate);
--- 379,383 ----
  					}

! 					sim = m_refTarget->SimilarityWCueAdapt(
  						&(object_cast<Vector<VisualFeatureDesc<double> *> >(featVecRef)), 
  						m_cueAdaptRate);
***************
*** 397,403 ****
  					targetMatch = (sim >= m_targetMatchThres);

! 					m_target->AgeTarget(targetMatch);
  					if (sim > m_targetAdaptThres) {
! 						m_target->Adapt(&(object_cast<Vector<VisualFeatureDesc<double> *> >(featVecRef)),
  							m_targetAdaptRate);
  					}
--- 385,391 ----
  					targetMatch = (sim >= m_targetMatchThres);

! 					m_refTarget->AgeTarget(targetMatch);
  					if (sim > m_targetAdaptThres) {
! 						m_refTarget->Adapt(&(object_cast<Vector<VisualFeatureDesc<double> *> >(featVecRef)),
  							m_targetAdaptRate);
  					}
***************
*** 419,424 ****
  		}
  		else if (output_id == m_targetDXOutID) {
! 			if (m_target->IsValid()) {
! 				float deltaX = (float)(m_target->GetCstROI()->GetXCen()) - m_imgXCen;
  				(*outputs[m_targetDXOutID].buffer)[count] = ObjectRef(Float::alloc(deltaX));
  			}
--- 407,412 ----
  		}
  		else if (output_id == m_targetDXOutID) {
! 			if (m_refTarget->IsValid()) {
! 				float deltaX = (float)(m_refTarget->GetCstROI()->GetXCen()) - m_imgXCen;
  				(*outputs[m_targetDXOutID].buffer)[count] = ObjectRef(Float::alloc(deltaX));
  			}
***************
*** 428,433 ****
  		}
  		else if (output_id == m_targetDYOutID) {
! 			if (m_target->IsValid()) {
! 				float deltaY = m_imgYCen - (float)(m_target->GetCstROI()->GetYCen());
  				(*outputs[m_targetDYOutID].buffer)[count] = ObjectRef(Float::alloc(deltaY));
  			}
--- 416,421 ----
  		}
  		else if (output_id == m_targetDYOutID) {
! 			if (m_refTarget->IsValid()) {
! 				float deltaY = m_imgYCen - (float)(m_refTarget->GetCstROI()->GetYCen());
  				(*outputs[m_targetDYOutID].buffer)[count] = ObjectRef(Float::alloc(deltaY));
  			}

Index: VisualROI.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Vision/src/VisualROI.cc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** VisualROI.cc	12 Apr 2005 19:58:10 -0000	1.4
--- VisualROI.cc	26 May 2005 19:45:09 -0000	1.5
***************
*** 163,166 ****
--- 163,226 ----
  }

+ void VisualROI::DrawROI(int i_width, int i_height, int i_numChannels, 
+ 	unsigned char *io_pixels, const unsigned char *i_color) const
+ {
+ 	if (!io_pixels) {
+ 		throw new GeneralException ("VisualROI::DrawROI : invalid pixels reference.",__FILE__,__LINE__);
+ 	}
+ 	
+ 	if (!i_color) {
+ 		throw new GeneralException ("VisualROI::DrawROI : invalid color reference.",__FILE__,__LINE__);
+ 	}
+ 	
+ 	if (!m_perim) {
+ 		throw new GeneralException ("VisualROI::DrawROI : cannot draw ROI with uninitialized region data.",__FILE__,__LINE__);
+ 	}
+ 	
+ 	unsigned char *p_pixels = io_pixels;
+ 	const short *p_perim = this->GetCstPerim();
+ 	int imgWidth = i_width;
+ 	int imgHeight = i_height;
+ 	int numChannels = i_numChannels;
+ 	int i, c, x, y;
+ 	short deltaX, deltaY;
+ 	bool broken = true;
+ 
+ 	// Start at the top center of the region
+ 	x = m_xCen;
+ 	y = m_yCen;
+ 	p_pixels += numChannels*(y*imgWidth + x);
+ 
+ 	// Overlay region of interest
+ 	for (i=m_perimLength; i>0; i--)  {
+ 		deltaX = *p_perim++;
+ 		deltaY = *p_perim++;
+ 		x += deltaX;
+ 		y += deltaY;
+ 
+ 		// Draw only if region is visible
+ 		if (y>0 && y<imgHeight && x>0 && x<imgWidth) {
+ 			if (!broken) {
+ 				// Relative position
+ 				p_pixels += numChannels*(deltaY*imgWidth + deltaX);
+ 			}
+ 			else {
+ 				// Absolute position
+ 				p_pixels = (unsigned char *)(io_pixels + numChannels*(y*imgWidth + x));
+ 				broken = false;
+ 			}
+ 
+ 			for (c=0; c<numChannels; c++) {
+ 				*p_pixels++ = i_color[c];
+ 			}
+ 
+ 			p_pixels -= numChannels;
+ 		}
+ 		else {
+ 			broken = true;
+ 		}
+ 	}
+ }
+ 
  void VisualROI::Reset(int i_hsX, int i_hsY, int i_angle)
  {
***************
*** 259,262 ****
--- 319,327 ----
  }

+ void VisualROI::SetType(e_VISUALROI_type i_type)
+ {
+ 	m_type = i_type;
+ }
+ 
  void VisualROI::SetXCen(int i_xCen)
  {