//  HOUSE MODEL
//
//  FILE NAME   : house.C
//  MODULE TYPE : Depth Class
//  STATUS      : In development 
//  PURPOSE     : Visual depth analisys
// 
//  Instituto Tecnologico Autonomo de Mexico 
//  (c) Copyright 1996
//
//  HISTORY : Version (Date-Name) Modification, description. 
//
//            1.0 (Agu 13, 1996 - Claudia Calderas & Salvador Marmol), 
//            Start of development for distributed execution.
//
//            1.5 (Sept 22, 1997 - Salvador Marmol), 
//            Adecutation for the new library.
//
//            1.6 (Nov 10, 1997 - Oscar Peguero), 
//            Implementation of the stereo schema.
//
//            1.7 (Mar 16, 1998 - Oscar Peguero), 
//            Changes in loops / steps

#include "nsl_include.h"
#include "house.h"

extern void view_to_right_retina(nsl_vector&,nsl_matrix&,nsl_data&,nsl_data&,nsl_data&);
extern void view_to_left_retina(nsl_vector&,nsl_matrix&,nsl_data&,nsl_data&,nsl_data&);
extern void retina_to_accommodation(nsl_matrix&,nsl_matrix&,nsl_vector&,nsl_data&,nsl_data&,nsl_data&,nsl_data&,nsl_data&);
extern void retina_to_disparity(nsl_matrix&,nsl_vector&,nsl_vector&);

Dev2::Dev2(char *str, NslModule* parent,int sizeX,int sizeY) : 
	NslModule(str, parent), 
	a("a",this,sizeX,sizeY),
	m("m",this,sizeX,sizeY), mf("mf",this,sizeX,sizeY),
	s("s",this,sizeX,sizeY),   
	u("u",this,sizeY), uf("uf",this,sizeY), 
	tu("tu",this), tm("tm",this),
	hu("hu",this), hm("hm",this),
	wm("wm",this,3), kmu("kmu",this), kam("kam",this), 
	kum("kum",this), ks("ks",this),
	x1("x1",this), x2("x2",this)
{
}
	
void Dev2::initRun()
{
	m = 0;
	mf = 0;
	s = 0;
	u = 0;
	uf = 0;
}

void Dev2::simRun()
{
	nslDiff(m,tm,-m+kam*a-kum*nslExpandRows(uf,m.getRows())+ks*s+wm*mf+hm);
	mf = NSLsigma(m,x1,x2);

	nslDiff(u,tu, -u + kmu*nslReduceRows(mf)+hu);
	uf = NSLramp(u);
}

HouseRetina::HouseRetina(char *s, NslModule* parent, int sizeX, int sizeY, int sizeR) : 
	NslModule(s, parent), 
	in("in",this,sizeX,sizeY), rl("rl",this,sizeR), 
	rr("rr",this,sizeR),
	a("a",this,sizeX,sizeY), d("d",this,sizeX,sizeY),
	w("w",this), yf("yf",this), l("l",this), 
	dmax("dmax",this), sigma("sigma",this)
{
}
	
void HouseRetina::initRun()
{		
	rr    = 0;
	rl    = 0;
	a     = 0;
	d     = 0;

	view_to_right_retina(rr,in,w,yf,l);
	view_to_left_retina(rl,in,w,yf,l);
	retina_to_accommodation(a,in,rr,w,yf,l,dmax,sigma);
 	retina_to_disparity(d,rr,rl);
}

HouseStereo::HouseStereo(char *str, NslModule* parent, 
	int sizeX, int sizeY, int sizeR) : NslModule(str, parent),
	s("s", this,sizeX,sizeY),
	m("m", this,sizeX,sizeY), 
	r("r", this,sizeX,sizeY,sizeR),
	in("in",this,sizeX,sizeY),
	out("out",this,sizeX,sizeY)
{
	makeConn(); 
}

void HouseStereo::makeConn(void)
{
	nslConnect(r.a, s.a);
	nslConnect(r.d, m.a);
	nslConnect(s.mf, m.s);
	nslConnect(m.mf, s.s);

	nslRelabel(in,r.in);
	nslRelabel(m.mf,out);
}

HouseVisin::HouseVisin(char *str, NslModule* parent, 
	int sizeX, int sizeY) : NslModule(str, parent),
	out("out",this,sizeX,sizeY)
{
}

DepthModel::DepthModel() : NslModel("DepthModel"),
	visin("visin",this,11,11), // 11,11), //81,81)
	stereo("stereo",this,11,11,21) // 11,11,21) //81,81,161)
{
	makeConn(); 
}
void DepthModel::makeConn(void)
{
	nslConnect(visin.out, stereo.in);
}

AslSchemaModel<DepthModel> _DepthModel("DepthModel");