ch.unizh.ini.jaer.hardware.pantilt
Class CalibratedPanTilt

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.hardware.pantilt.CalibratedPanTilt

All Implemented Interfaces:

LaserOnOffControl, PanTiltInterface, FrameAnnotater

public class CalibratedPanTilt
extends EventFilter2D
implements FrameAnnotater, PanTiltInterface, LaserOnOffControl

This filter enables calibrated control of a pan tilt laser pointer. CalibratedPanTilt has a method to set the pan tilt to aim at an x,y point in the retinal view. CalibratedPanTilt only processes incoming events during calibration, when it uses its own RectangularClusterTracker to track the jittering laser point spot for aiming calibration.

Author:

Tobi Delbruck

Field Summary

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter2D

enclosedFilter, out

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter

annotationEnabled, chip, enclosedFilterChain, filterEnabled, log, perf, propertyTooltipMap, support

Constructor Summary

CalibratedPanTilt(AEChip chip)
Constructs instance of the new 'filter' CalibratedPanTilt.

Method Summary

void	acquire() A method can set this flag to tell other objects that the servo is "owned"
void	annotate(float[][][] frame) annotate the RGB frame somehow by color pixels in the rendered pixel frame data.
void	annotate(javax.media.opengl.GLAutoDrawable drawable) Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active).
void	annotate(java.awt.Graphics2D g) each annotator is called by the relevant class (e.g.
void	doCalibrate() Invokes the calibration GUI.
EventPacket<?>	filterPacket(EventPacket<?> in) Subclasses implement this method to define custom processing.
PanTiltCalibrator	getCalibrator()
static java.lang.String	getDescription()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getJitterAmplitude() Returns the jitter amplitude
float	getJitterFreqHz() Returns the jitter frequency in Hz
PanTilt	getPanTiltHardware()
float[]	getPanTiltValues() Returns the last value set, even if the servo interface is not functional.
ServoInterface	getServoInterface()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isLockOwned() A method can check this to see if it can use the servo
void	release() Releases the "acquired" flag
void	resetFilter() should reset the filter to initial state
void	setJitterAmplitude(float jitterAmplitude) Sets the amplitude (1/2 of peak to peak) of circular jitter of pan tilt during jittering
void	setJitterFreqHz(float jitterFreqHz) The frequency of the jitter
void	setLaserEnabled(boolean yes)
void	setPanTiltHardware(PanTilt panTilt)
void	setPanTiltValues(float pan, float tilt) Sets the pan and tilt servo values
void	setPanTiltVisualAim(float x, float y) Sets the pan and tilt to aim at a particular calibrated x,y visual direction
void	setServoInterface(ServoInterface servo) Sets the ServoInterface
void	startJitter() Starts the servo jittering around its set position at a frequency of 50 Hz with an amplitude of 0.02f
void	stopJitter() Stops the jittering

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter2D

checkOutputPacketEventType, checkOutputPacketEventType, getEnclosedFilter, resetOut, setEnclosedFilter, setFilterEnabled

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter

getChip, getEnclosedFilterChain, getEnclosingFilter, getPrefs, getPropertyChangeSupport, getPropertyTooltip, isAnnotationEnabled, isEnclosed, isFilterEnabled, prefsEnabledKey, setAnnotationEnabled, setChip, setEnclosed, setEnclosedFilter, setEnclosedFilterChain, setEnclosingFilter, setPreferredEnabledState, setPrefs, setPropertyTooltip

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface net.sf.jaer.graphics.FrameAnnotater

isAnnotationEnabled, setAnnotationEnabled

Constructor Detail

CalibratedPanTilt

public CalibratedPanTilt(AEChip chip)

Constructs instance of the new 'filter' CalibratedPanTilt. The only time events are actually used is during calibration. The PanTilt hardware interface is also constructed.

Parameters:

chip -

Method Detail

setPanTiltVisualAim

public void setPanTiltVisualAim(float x,
                                float y)
                         throws HardwareInterfaceException

Sets the pan and tilt to aim at a particular calibrated x,y visual direction

Parameters:

x - the x pixel

y - the y pixel

Throws:

HardwareInterfaceException

getDescription

public static java.lang.String getDescription()

filterPacket

public EventPacket<?> filterPacket(EventPacket<?> in)

Description copied from class: EventFilter2D

Subclasses implement this method to define custom processing.

Specified by:

filterPacket in class EventFilter2D

Parameters:

in - the input packet

Returns:

the output packet

getFilterState

public java.lang.Object getFilterState()

Description copied from class: EventFilter

should return the filter state in some useful form

Specified by:

getFilterState in class EventFilter

resetFilter

public void resetFilter()

Description copied from class: EventFilter

should reset the filter to initial state

Specified by:

resetFilter in class EventFilter

initFilter

public void initFilter()

Description copied from class: EventFilter

this should allocate and initialize memory: it may be called when the chip e.g. size parameters are changed after creation of the filter

Specified by:

initFilter in class EventFilter

annotate

public void annotate(float[][][] frame)

Description copied from interface: FrameAnnotater

annotate the RGB frame somehow by color pixels in the rendered pixel frame data.

Specified by:

annotate in interface FrameAnnotater

Parameters:

frame - the RGB pixel information. First dimension is Y, second is X, third is RGB

annotate

public void annotate(java.awt.Graphics2D g)

Description copied from interface: FrameAnnotater

each annotator is called by the relevant class (e.g. EyeTracker) and enters annotate with graphics context current, in coordinates with pixel 0,0 in UL corner and pixel spacing 1 unit before scaling transform (which is already active).

Specified by:

annotate in interface FrameAnnotater

Parameters:

g - the Graphics2D context

annotate

public void annotate(javax.media.opengl.GLAutoDrawable drawable)

Description copied from interface: FrameAnnotater

Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active). The FrameAnnotater then can use JOGL calls to render to the screen by getting the GL context, e.g. the following code, used in the context of an AEChip object, draws a golden lines from LL to UR of the pixel array.

        GL gl = drawable.getGL();
        gl.glBegin(GL.GL_LINES);
        gl.glColor3f(.5f, .5f, 0);
        gl.glVertex2f(0, 0);
        gl.glVertex2f(getSizeX() - 1, getSizeY() - 1);
        gl.glEnd();
 

Specified by:

annotate in interface FrameAnnotater

Parameters:

drawable - the OpenGL drawable components, e.g., GLCanvas

doCalibrate

public void doCalibrate()

Invokes the calibration GUI. Calibration values are stored persistently as preferences. Built automatically into filter parameter panel as an action.

getPanTiltHardware

public PanTilt getPanTiltHardware()

setPanTiltHardware

public void setPanTiltHardware(PanTilt panTilt)

getJitterAmplitude

public float getJitterAmplitude()

Description copied from interface: PanTiltInterface

Returns the jitter amplitude

Specified by:

getJitterAmplitude in interface PanTiltInterface

setJitterAmplitude

public void setJitterAmplitude(float jitterAmplitude)

Sets the amplitude (1/2 of peak to peak) of circular jitter of pan tilt during jittering

Specified by:

setJitterAmplitude in interface PanTiltInterface

Parameters:

jitterAmplitude - the amplitude

getJitterFreqHz

public float getJitterFreqHz()

Description copied from interface: PanTiltInterface

Returns the jitter frequency in Hz

Specified by:

getJitterFreqHz in interface PanTiltInterface

setJitterFreqHz

public void setJitterFreqHz(float jitterFreqHz)

The frequency of the jitter

Specified by:

setJitterFreqHz in interface PanTiltInterface

Parameters:

jitterFreqHz - in Hz

acquire

public void acquire()

Description copied from interface: PanTiltInterface

A method can set this flag to tell other objects that the servo is "owned"

Specified by:

acquire in interface PanTiltInterface

getPanTiltValues

public float[] getPanTiltValues()

Description copied from interface: PanTiltInterface

Returns the last value set, even if the servo interface is not functional. The servo could still be moving to this location.

Specified by:

getPanTiltValues in interface PanTiltInterface

Returns:

a float[] array with the 0 component being the pan value, and the 1 component being the tilt

isLockOwned

public boolean isLockOwned()

Description copied from interface: PanTiltInterface

A method can check this to see if it can use the servo

Specified by:

isLockOwned in interface PanTiltInterface

release

public void release()

Description copied from interface: PanTiltInterface

Releases the "acquired" flag

Specified by:

release in interface PanTiltInterface

startJitter

public void startJitter()

Description copied from interface: PanTiltInterface

Starts the servo jittering around its set position at a frequency of 50 Hz with an amplitude of 0.02f

Specified by:

startJitter in interface PanTiltInterface

See Also:

PanTiltInterface.setJitterAmplitude(float)

stopJitter

public void stopJitter()

Description copied from interface: PanTiltInterface

Stops the jittering

Specified by:

stopJitter in interface PanTiltInterface

setPanTiltValues

public void setPanTiltValues(float pan,
                             float tilt)
                      throws HardwareInterfaceException

Sets the pan and tilt servo values

Specified by:

setPanTiltValues in interface PanTiltInterface

Parameters:

pan - 0 to 1 value

tilt - 0 to 1 value

Throws:

HardwareInterfaceException

setServoInterface

public void setServoInterface(ServoInterface servo)

Description copied from interface: PanTiltInterface

Sets the ServoInterface

Specified by:

setServoInterface in interface PanTiltInterface

Parameters:

servo - the interface

getServoInterface

public ServoInterface getServoInterface()

Specified by:

getServoInterface in interface PanTiltInterface

setLaserEnabled

public void setLaserEnabled(boolean yes)

Specified by:

setLaserEnabled in interface LaserOnOffControl

getCalibrator

public PanTiltCalibrator getCalibrator()