saliencyDetectionItti.h

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//===================================================================================
// Name        : saliencyDetectionItti.h
// Author      : Oytun Akman, oytunakman@gmail.com
// Version     : 1.0
// Copyright   : Copyright (c) 2010 LGPL
// Description : C++ implementation of "A Model of Saliency-Based Visual Attention
//                               for Rapid Scene Analysis" by Laurent Itti, Christof Koch and Ernst
//                               Niebur (PAMI 1998).                                                                                              
//===================================================================================

#ifndef _SALIENCYMAPITTI_H_INCLUDED_
#define _SALIENCYMAPITTI_H_INCLUDED_
// ROS
#include <ros/ros.h>
#include "image_transport/image_transport.h"
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/fill_image.h>
#include <geometry_msgs/Point.h>

// OpenCV
#include "cv.h"
#include "opencv2/highgui/highgui.hpp"

using namespace cv;
using namespace std;
namespace enc = sensor_msgs::image_encodings;

class saliencyMapItti
{
protected:
        ros::NodeHandle nh_;
        ros::Publisher point_pub_;
        image_transport::ImageTransport it_;
        image_transport::Subscriber     image_sub_;
        image_transport::Publisher              saliencymap_pub_;

public:
        saliencyMapItti() : nh_("~"), it_(nh_)
        {
                image_sub_ = it_.subscribe("/rgbimage_in", 1, &saliencyMapItti::imageCB, this);
                saliencymap_pub_= it_.advertise("/saliency/image", 1);
                point_pub_ = nh_.advertise<geometry_msgs::Point>("/saliency/salientpoint", 1);
        }


        ~saliencyMapItti()
        {
                nh_.shutdown();
        }

        void imageCB(const sensor_msgs::ImageConstPtr& msg_ptr);
        void calculateSaliencyMap(const Mat* src, Mat* dst, int scaleBase);
        void combineFeatureMaps(int scale);

        Mat conspicuityMap_I;
        Mat conspicuityMap_C;
        Mat conspicuityMap_O;
        Mat S;

private:
        Mat r,g,b,R,G,B,Y,I;
        vector<Mat> gaussianPyramid_I;
        vector<Mat> gaussianPyramid_R;
        vector<Mat> gaussianPyramid_G;
        vector<Mat> gaussianPyramid_B;
        vector<Mat> gaussianPyramid_Y;

        void createChannels(const Mat* src);
        void createScaleSpace(const Mat* src, vector<Mat>* dst, int scale);

        void normalize_rgb();
        void create_RGBY();
        void createIntensityFeatureMaps();
        void createColorFeatureMaps();
        void createOrientationFeatureMaps(int orientation);
        void mapNormalization(Mat* src);
        void clearBuffers();

        vector<Mat> featureMaps_I;
        vector<Mat> featureMaps_RG;
        vector<Mat> featureMaps_BY;
        vector<Mat> featureMaps_0;
        vector<Mat> featureMaps_45;
        vector<Mat> featureMaps_90;
        vector<Mat> featureMaps_135;
};
#endif