GenericPointerMessage(const std::string& frame_id = "/", Message::Stamp stamp = 0) : Message(type<GenericPointerMessage<Type>>::name(), frame_id, stamp)
{
static csapex::DirectMessageConstructorRegistered<connection_types::GenericPointerMessage, Type> reg_c;
static csapex::DirectMessageSerializerRegistered<connection_types::GenericPointerMessage, Type> reg_s;
setDescriptiveName(type2name(typeid(Type)));
}
// ######################################################################
IntegerDirectionChannel::
IntegerDirectionChannel(OptionManager& mgr,
const uint dirIndex,
const double direction,
const int dxnumer, const int dynumer,
const uint denombits,
nub::ref<IntegerMathEngine> eng) :
IntegerSimpleChannel(mgr, "", "", MOTION,
rutz::make_shared
(new IntgReichardtPyrBuilder
(dxnumer, dynumer, denombits,
eng->getImath())),
eng),
itsIndex("IntegerDirectionChannelIndex", this, dirIndex),
itsDirection("IntegerDirectionChannelDirection", this, direction),
itsThresh(&OPT_DirectionChannelLowThresh, this)
{
GVX_TRACE(__PRETTY_FUNCTION__);
itsTakeAbs.setVal(true);
itsNormalizeOutput.setVal(true);
itsScaleNoiseToMax.setVal(true);
// kill small values in pyramid:
const float fthresh = itsThresh.getVal();
itsLowThresh.setVal(intgScaleFromFloat(&fthresh,
this->getImath()->nbits));
// kill negative values in pyramid:
itsRectifyPyramid.setVal(true);
setDescriptiveName(sformat("Integer Direction(%d)", int(direction)));
setTagName(sformat("int-dir_%d", dirIndex));
}
// ######################################################################
// ColorBandChannel member definitions:
// ######################################################################
ColorBandChannel::ColorBandChannel(OptionManager& mgr, const uint bandidx) :
SingleChannel(mgr, "", "", COLBAND,
rutz::make_shared(new GaussianPyrBuilder<float>(5))),
itsBandIndex("ColorBandChannelIndex", this, bandidx)
{
itsTakeAbs.setVal(true);
itsNormalizeOutput.setVal(true);
setDescriptiveName(sformat("ColorBand(%d)", bandidx));
setTagName(sformat("cband_%d", bandidx));
}
// ######################################################################
DirectFeedChannel::DirectFeedChannel(OptionManager& mgr, int id)
: ChannelBase(mgr, "DirectFeed", "DirectFeed", DIRECTFEED),
itsMapLevel(&OPT_MapLevel, this),
itsNormType(&OPT_MaxNormType, this),
itsUseOlderVersion(&OPT_UseOlderVersion, this), // see Channels/ChannelOpts.{H,C}
itsOutputRangeMin(&OPT_ChannelOutputRangeMin, this),
itsOutputRangeMax(&OPT_ChannelOutputRangeMax, this)
{
if (id >= 0)
{
std::string name("DirectFeed_No_");
name += toStr(id);
setTagName(name);
setDescriptiveName(name);
}
}
// ######################################################################
DirectionChannel::DirectionChannel(OptionManager& mgr,
const uint dirIndex,
const double direction,
const PyramidType type) :
SingleChannel(mgr, "", "", MOTION,
rutz::make_shared(new ReichardtPyrBuilder<float>
(cos(direction * M_PI / 180.0),
-sin(direction * M_PI / 180.0),
type, direction + 90.0))),
itsIndex("DirectionChannelIndex", this, dirIndex),
itsDirection("DirectionChannelDirection", this, direction),
itsTakeSqrt(&OPT_DirectionChannelTakeSqrt, this),
itsThresh(&OPT_DirectionChannelLowThresh, this)
{
GVX_TRACE(__PRETTY_FUNCTION__);
itsTakeAbs.setVal(true);
itsNormalizeOutput.setVal(true);
itsScaleNoiseToMax.setVal(true);
itsLowThresh.setVal(itsThresh.getVal()); // kill small values in pyramid
itsRectifyPyramid.setVal(true); // kill negative values in pyramid
setDescriptiveName(sformat("Direction(%d)", int(direction)));
setTagName(sformat("dir_%d", dirIndex));
}
