CombiSensor Class Reference

#include <SensorSet.h>

Inheritance diagram for CombiSensor:

Collaboration diagram for CombiSensor:

Public Member Functions
	CombiSensor (int nchannels=0)
virtual	~CombiSensor ()
int	getNChannels () const
int	getSkip () const
void	changeSource (sensor_cptr _source)
std::ostream &	print (std::ostream &os) const
std::ostream &	hprint (std::ostream &os, SensorCollection *sc) const
void	clearSources ()
void	setNSources (int n)
void	setSource (sensor_ptr _source, float weight, int id)
void	setSource (sensor_ptr _source, float weight)
Sensor &	assign (const Sensor &rhs)
void	normalizeInput (bool doit=true)
bool	isInputNormalized () const
Public Member Functions inherited from PPSensor
	PPSensor ()
virtual float	getValue (int x, int y) const
virtual Point	getGradient (int x, int y) const
virtual bool	performUpdate ()
void	togglePP (enum PPState state=PP_DO)
dword	getPPState () const
Public Member Functions inherited from Sensor
virtual	~Sensor ()
sensor_cptr	getSource ()
void	replaceBy (sensor_ptr target)
bool	assignRef (sensor_cptr rhs)
float	getValue (const Point &p) const
	get value at position p using nearest neighbour interpolation More...
virtual std::vector< float >	getMValue (int x, int y) const
	get multi-channel value More...
Point2D	getGradient (const Point2D &p) const
	get gradient at position p using nearest neighbor interpolation More...
float	getMax () const
float	getMin () const
float	getMinMaxRange () const
float	getWeightedValue (int x, int y) const
	get max normalized value at discrete position range [0,1] More...
Point2D	getWeightedGradient (int x, int y) const
	get range weighted gradient at discrete position More...
void	setCWeights (const std::vector< float > &weights)
const std::vector< float > &	getCWeights () const
void	setDirection (const Point &dir)
const Point &	getDirection () const
void	setScale (float _scale)
float	getScale () const
bool	isModified (dword mask=UPD_ALL) const
void	setModified (dword mask=UPD_ALL)
void	unsetModified (dword mask=UPD_ALL)
bool	isUpdate (dword udMask) const
void	enableUpdate (dword udMask)
void	disableUpdate (dword udMask)
virtual int	getDim1Size () const
virtual int	getDim2Size () const
virtual int	getDim3Size () const
bool	isValid (int x, int y) const
virtual Image< float >	createSensorImage () const
const std::string &	getID () const
void	setID (const std::string &id)
void	refSuperSensor (sensor_ptr super)
void	unrefSuperSensor (sensor_ptr super)
void	invalidateSource ()
template<typename Derived >
std::shared_ptr< Derived >	shared_from_base ()

Protected Member Functions
float	calcValue (int x, int y) const
	Computes a scalar product between the multi-channel intensities and the cweights vector. More...
std::vector< float >	calcMValue (int x, int y) const
Protected Member Functions inherited from PPSensor
void	fitSheets ()
virtual void	calcAllValues ()
virtual void	calcAllGradients ()
Protected Member Functions inherited from Sensor
	Sensor (dword updateMask)
	Sensor ()
virtual Point	calcGradient (int x, int y) const
virtual void	calcMinMax ()

Protected Attributes
std::vector< sensor_ptr >	sources
bool	m_NormalizeInput
Protected Attributes inherited from PPSensor
Image< float >	values
	caching sheet for sensed values More...
Image< Point >	gradients
	caching sheet for gradients More...
dword	doPP
	do preprocessing? More...
Protected Attributes inherited from Sensor
sensor_cptr	source
float	scale
std::vector< float >	cweights
	multi-channel weights ('color') More...
Point	dir
	direction parameter More...
float	maxval
float	minval
	overall minimum and maximum More...
float	mean
float	stdev
	overall mean and stdev More...
dword	toupdate
	bitflag for updates More...
dword	updateMask
	bitflag to mask unimportant updates More...
std::string	m_ID
int	m_Skip
int	m_AddSkip

Additional Inherited Members
Public Types inherited from PPSensor
enum	PPState { PP_DONT =0, PP_DO, PP_FORCE }
Public Types inherited from Sensor
enum	UpdateParam {   UPD_NOTHING =0, UPD_DATA =1, UPD_SCALE =2, UPD_CWEIGHTS =4,   UPD_DIR =8, UPD_MINMAX =16, UPD_LAST =32, UPD_ALL =0xffffffff }
Static Public Member Functions inherited from Sensor
static dword	getStringNumber (const char *sid)
static void	getNumberString (char sid[5], dword id)

Detailed Description

Multi-Sensor

Definition at line 259 of file SensorSet.h.

Constructor & Destructor Documentation

CombiSensor::CombiSensor

(

int

nchannels = 0

)

Definition at line 94 of file SensorSet.cpp.

References Sensor::enableUpdate(), setNSources(), Sensor::UPD_CWEIGHTS, and Sensor::UPD_DATA.

    : m_NormalizeInput(true)
{
    setNSources(nchannels);
    enableUpdate(UPD_DATA|UPD_CWEIGHTS);
    //togglePP(PP_FORCE);
}

CombiSensor::~CombiSensor ( )

virtual

Definition at line 102 of file SensorSet.cpp.

References sources.

{
    for(vector<sensor_ptr>::iterator s=sources.begin();
        s!=sources.end(); s++)
    {
        (*s)->unrefSuperSensor( shared_from_this() );
    }
}

Member Function Documentation

Sensor & CombiSensor::assign ( const Sensor &  rhs )

virtual

Reimplemented from PPSensor.

Definition at line 188 of file SensorSet.cpp.

References PPSensor::assign(), Sensor::getCWeights(), setNSources(), setSource(), and sources.

{
    if(&rhs != this) {
        PPSensor::assign(rhs);
        if(typeid(&rhs) == typeid(CombiSensor*)) {
            const CombiSensor& crhs = (const CombiSensor&) rhs;
            if(sources != crhs.sources) {
                setNSources(crhs.sources.size());
                int sid = 0;
                const vector<float>& weights = crhs.getCWeights();
                for(vector<sensor_ptr>::const_iterator s = crhs.sources.begin();
                    s != crhs.sources.end(); s++, sid++)
                    setSource(std::const_pointer_cast<Sensor>(*s), weights[sid], sid);
            }
        }
    }
    return *this;
}

std::vector<float> CombiSensor::calcMValue ( int  x, int  y  ) const

inlineprotectedvirtual

Calculate a multi-valued sensor result. The size of the returned vector is the same as getNChannels().

Reimplemented from Sensor.

Definition at line 306 of file SensorSet.h.

References Sensor::cweights, and Sensor::getNChannels().

                                                    {
        std::vector<float> vv(getNChannels());
        std::vector<float>::iterator v = vv.begin();
        std::vector<sensor_ptr>::const_iterator s = sources.begin();
        std::vector<float>::const_iterator w = cweights.begin();
        if(m_NormalizeInput)
            for(; v != vv.end(); v++, s++,w++)
                *v = (*s)->getWeightedValue(x,y)*(*w);
        else
            for(; v != vv.end(); v++, s++,w++)
                *v = (*s)->getValue(x,y)*(*w);
        return vv;
    }

float CombiSensor::calcValue ( int  x, int  y  ) const

inlineprotectedvirtual

Computes a scalar product between the multi-channel intensities and the cweights vector.

Implements Sensor.

Definition at line 291 of file SensorSet.h.

References Sensor::cweights.

                                        {
        float result = 0.0f;
        std::vector<sensor_ptr>::const_iterator s = sources.begin();
        std::vector<float>::const_iterator w = cweights.begin();
        if(m_NormalizeInput)
            for(; s != sources.end(); s++,w++) {
                result += (*s)->getWeightedValue(x,y)*(*w);
            }
        else
            for(; s != sources.end(); s++,w++) {
                result += (*s)->getValue(x,y)*(*w);
            }
        return result;
    }

void CombiSensor::changeSource ( sensor_cptr  _source )

virtual

Reimplemented from Sensor.

Definition at line 154 of file SensorSet.cpp.

References Sensor::changeSource(), Sensor::enableUpdate(), print(), Sensor::setModified(), setSource(), Sensor::source, sources, TRACE, and Sensor::UPD_MINMAX.

{
    if(!_source) return;
    const string& sid = _source->getID();
    vector<sensor_ptr>::iterator s = sources.begin();
    while(s!=sources.end() && (*s)->getID()!=sid)
        s++;
    if(s!=sources.end()) {      // && sid == (*s)->getID()) { // use assert?
        source = *s;
        PPSensor::changeSource(_source);
        *s = std::const_pointer_cast<Sensor>(source);
        if(!std::const_pointer_cast<Sensor>(source)->isUpdate(UPD_MINMAX)) {
            std::const_pointer_cast<Sensor>(source)->enableUpdate(UPD_MINMAX);
            std::const_pointer_cast<Sensor>(source)->setModified(UPD_MINMAX);
        }
    } else {
        TRACE("error replacing element <" << sid << "> in combi sensor - appending instead.");
        print(cout) << endl;
        setSource(std::const_pointer_cast<Sensor>(_source),1.f);
    }
}

void CombiSensor::clearSources

(

)

Definition at line 111 of file SensorSet.cpp.

References Sensor::cweights, Sensor::setModified(), sources, Sensor::UPD_CWEIGHTS, and Sensor::UPD_DATA.

{
    vector<sensor_ptr>::iterator s=sources.begin();
    while(s!=sources.end()) {
        (*s)->unrefSuperSensor( shared_from_this() );
        s++;
    }
    sources.clear();
    cweights.clear();
    setModified(UPD_CWEIGHTS|UPD_DATA);
}

int CombiSensor::getNChannels ( ) const

inlinevirtual

Reimplemented from Sensor.

Definition at line 265 of file SensorSet.h.

{ return sources.size(); }

int CombiSensor::getSkip ( ) const

inlinevirtual

Reimplemented from Sensor.

Definition at line 266 of file SensorSet.h.

References Sensor::changeSource(), Sensor::hprint(), Sensor::m_Skip, and IntensitySensor::print().

                        {
        int m_Skip = 0;
        for(std::vector<sensor_ptr>::const_iterator s = sources.begin();
            s!=sources.end(); s++)
            if((*s)->getSkip() > m_Skip) m_Skip = (*s)->getSkip();
        return m_Skip;
    }

ostream & CombiSensor::hprint ( std::ostream &  os, SensorCollection *  sc  ) const

virtual

Reimplemented from Sensor.

Definition at line 222 of file SensorSet.cpp.

References SensorCollection::isPrinted(), Sensor::m_ID, print(), SensorCollection::setPrinted(), and sources.

{
    if(sc->isPrinted(m_ID)) return os;
    for(vector<sensor_ptr>::const_iterator s=sources.begin();
        s!=sources.end(); s++)
    {
        (*s)->hprint(os, sc);
    }
    if(sc->isPrinted(m_ID)) return os;
    sc->setPrinted(m_ID);
    return (print(os) << endl);
}

bool CombiSensor::isInputNormalized ( ) const

inline

Definition at line 285 of file SensorSet.h.

{ return m_NormalizeInput; }

void CombiSensor::normalizeInput ( bool  doit = true )

inline

Definition at line 284 of file SensorSet.h.

{ m_NormalizeInput = doit; }

ostream & CombiSensor::print ( std::ostream &  os ) const

virtual

Reimplemented from Sensor.

Definition at line 207 of file SensorSet.cpp.

References Sensor::cweights, Sensor::getID(), m_NormalizeInput, and sources.

Referenced by changeSource(), and hprint().

{
    os << "s " << getID() << " ";
    //Sensor::print(os); would print modified source
    if(m_NormalizeInput) os << "k";
    else os << "K";
    vector<float>::const_iterator w = cweights.begin();
    for(vector<sensor_ptr>::const_iterator s=sources.begin();
        s!=sources.end(); s++, w++)
    {
        os << " " << (*s)->getID() << " " << *w;
    }
    return os;
}

void CombiSensor::setNSources

(

int

n

)

Definition at line 123 of file SensorSet.cpp.

References Sensor::cweights, getZeroSensor(), Sensor::setModified(), sources, Sensor::UPD_CWEIGHTS, and Sensor::UPD_DATA.

Referenced by assign(), CombiSensor(), and setSource().

{
    if(n != (int)sources.size()) {
        //clearSources();
        sources.resize(n,(sensor_ptr)getZeroSensor());
        cweights.resize(n, 1);
        setModified(UPD_CWEIGHTS|UPD_DATA);
    }
}

void CombiSensor::setSource	(	sensor_ptr	_source,
		float	weight,
		int	id
	)

Definition at line 133 of file SensorSet.cpp.

References Sensor::cweights, Sensor::enableUpdate(), getZeroSensor(), Sensor::isUpdate(), Sensor::setModified(), setNSources(), Sensor::source, sources, Sensor::UPD_CWEIGHTS, Sensor::UPD_DATA, and Sensor::UPD_MINMAX.

Referenced by assign(), and changeSource().

{
    assert(id>=0);
    if(id>=(int)sources.size()) {
        setNSources(id+1);
    }
    else if (sources[id] != 0 && sources[id] != getZeroSensor())
    {
        sources[id]->unrefSuperSensor( shared_from_this() );
    }
    sources[id] = _source;
    cweights[id] = weight;
    _source->refSuperSensor( shared_from_this() );
    source = _source;
    if(!std::const_pointer_cast<Sensor>(source)->isUpdate(UPD_MINMAX)) {
        std::const_pointer_cast<Sensor>(source)->enableUpdate(UPD_MINMAX);
        std::const_pointer_cast<Sensor>(source)->setModified(UPD_MINMAX);
    }
    setModified(UPD_CWEIGHTS|UPD_DATA);
}

void CombiSensor::setSource ( sensor_ptr  _source, float  weight  )

inline

Definition at line 281 of file SensorSet.h.

References Sensor::assign().

        { setSource(_source, weight, sources.size()); }

Member Data Documentation

bool CombiSensor::m_NormalizeInput

protected

Definition at line 288 of file SensorSet.h.

Referenced by print().

std::vector<sensor_ptr> CombiSensor::sources

protected

Definition at line 287 of file SensorSet.h.

Referenced by assign(), changeSource(), clearSources(), hprint(), print(), setNSources(), setSource(), and ~CombiSensor().

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The documentation for this class was generated from the following files:

• src/SensorSet.h
• src/SensorSet.cpp