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

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

All Implemented Interfaces:

FrameAnnotater

public class PanTiltTracker
extends EventFilter2D
implements FrameAnnotater

Demonstrates tracking object(s) and targeting them with the pan tilt unit. A laser pointer on the pan tilt can show where it is aimed. Developed for Sardinia Capo Cacia Cognitive Neuromorphic Engineering Workshop, April 2008. Includes a 4 point calibration based on an interactive GUI.

Author:

tobi, Ken Knoblauch

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

PanTiltTracker(AEChip chip)

Method Summary

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.
EventPacket<?>	filterPacket(EventPacket<?> in) Subclasses implement this method to define custom processing.
static java.lang.String	getDescription()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getJitterAmplitude()
float	getJitterFreqHz()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
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

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

PanTiltTracker

public PanTiltTracker(AEChip chip)

Method Detail

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

getJitterAmplitude

public float getJitterAmplitude()

setJitterAmplitude

public void setJitterAmplitude(float jitterAmplitude)

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

Parameters:

jitterAmplitude - the amplitude

getJitterFreqHz

public float getJitterFreqHz()

setJitterFreqHz

public void setJitterFreqHz(float jitterFreqHz)

The frequency of the jitter

Parameters:

jitterFreqHz - in Hz