ch.unizh.ini.jaer.projects.pawtracker
Class PawTracker

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.pawtracker.PawTracker

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

public class PawTracker
extends EventFilter2D
implements FrameAnnotater, java.util.Observer

Tracks Rat's Paw (too fill)

A single cluster tracks each object but the cluster simultaneously maintains several hypotheses about the size of the object. A cluster is moved by the presently-dominant hypothesis. The present hypothesis is highlighted in annotation. The dominant hypothesis for object size is the one that has most support per pixel. A small object with large hypothesis has low average support but a large object with small hypotesis will have more support from the large hypothesis (usually).

Author:

tobi

Nested Class Summary

class	PawTracker.Cluster Represents a single tracked object
class	PawTracker.EntryZone Represents a single tracked object

Field Summary

static float	ASPECT_RATIO_MAX maximum and minimum allowed dynamic aspect ratio
static float	ASPECT_RATIO_MIN maximum and minimum allowed dynamic aspect ratio
protected AEChip	chip
protected int	clusterCounter
protected float	defaultClusterRadius
protected static float	fullbrightnessLifetime
protected boolean	growMergedSizeEnabled
protected float	mixingFactor
protected boolean	pawIsDetected
protected java.util.LinkedList<PawTracker.Cluster>	pruneList
protected java.util.Random	random
protected float	velocityMixingFactor

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

enclosedFilter, out

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

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

Constructor Summary

PawTracker(AEChip chip)
Creates a new instance of PawTracker

Method Summary

void	annotate(float[][][] frame) annotate the rendered retina frame to show locations of clusters
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.
protected void	drawBox(javax.media.opengl.GL gl, int x, int y, int sx, int sy)
EventPacket	filterPacket(EventPacket in) Subclasses implement this method to define custom processing.
float	getAspectRatio()
float	getChange_ratio()
float	getClassifierThreshold()
int	getClusterLifetimeWithoutSupportUs() lifetime of cluster in ms without support
java.util.List<PawTracker.Cluster>	getClusters()
float	getClusterSize() max distance from cluster to event as fraction of size of array
boolean	getDynamicSizeEnabled()
int	getEntry_xa()
int	getEntry_xb()
int	getEntry_ya()
int	getEntry_yb()
int	getEntryZone_pixel_threshold()
int	getEntryZone_threshold()
java.lang.Object	getFilterState() should return the filter state in some useful form
int	getMax_fingers()
int	getMaxNumClusters() max number of clusters
int	getMin_events_per_cluster()
float	getMixingFactor()
int	getNumClusters()
int	getPaw_tip_size()
int	getPellet_size()
int	getPredictiveVelocityFactor()
float	getSurround()
int	getThresholdEventsForVisibleCluster() number of events to make a potential cluster visible
float	getThresholdISIForVisibleCluster() number of events to make a potential cluster visible
float	getVelocityMixingFactor()
int	getWrist_xa()
int	getWrist_xb()
int	getWrist_ya()
int	getWrist_yb()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isClassifierEnabled()
boolean	isColorClustersDifferentlyEnabled()
boolean	isDynamicAspectRatioEnabled()
boolean	isGrowMergedSizeEnabled()
boolean	isHighwayPerspectiveEnabled()
boolean	isLogDataEnabled()
boolean	isPathsEnabled()
boolean	isResetPawTracking()
boolean	isShowAllClusters()
boolean	isShowClusters()
boolean	isShowFingers()
boolean	isShowVelocity()
boolean	isUseOffPolarityOnlyEnabled()
boolean	isUseOnePolarityOnlyEnabled()
void	resetFilter() should reset the filter to initial state
void	setAspectRatio(float aspectRatio)
void	setChange_ratio(float change_ratio)
void	setClassifierEnabled(boolean classifierEnabled) Sets whether classifier is enabled.
void	setClassifierThreshold(float classifierThreshold)
void	setClusterLifetimeWithoutSupportUs(int clusterLifetimeWithoutSupport) lifetime of cluster in ms without support
void	setClusterSize(float clusterSize) sets max distance from cluster center to event as fraction of maximum size of chip pixel array.
void	setColorClustersDifferentlyEnabled(boolean colorClustersDifferentlyEnabled)
void	setDynamicAspectRatioEnabled(boolean dynamicAspectRatioEnabled)
void	setDynamicSizeEnabled(boolean dynamicSizeEnabled) Enables cluster size scaling.
void	setEntry_xa(int entry_xa)
void	setEntry_xb(int entry_xb)
void	setEntry_ya(int entry_ya)
void	setEntry_yb(int entry_yb)
void	setEntryZone_pixel_threshold(int entryZone_pixel_threshold)
void	setEntryZone_threshold(int entryZone_threshold)
void	setGrowMergedSizeEnabled(boolean growMergedSizeEnabled)
void	setHighwayPerspectiveEnabled(boolean highwayPerspectiveEnabled)
void	setLogDataEnabled(boolean logDataEnabled)
void	setMax_fingers(int max_fingers)
void	setMaxNumClusters(int maxNumClusters) max number of clusters
void	setMin_events_per_cluster(int min_events_per_cluster)
void	setMixingFactor(float mixingFactor)
void	setPathsEnabled(boolean pathsEnabled)
void	setPaw_tip_size(int paw_tip_size)
void	setPellet_size(int pellet_size)
void	setPredictiveVelocityFactor(int predictiveVelocityFactor)
void	setResetPawTracking(boolean resetPawTracking)
void	setShowAllClusters(boolean showAllClusters) Sets annotation visibility of clusters that are not "visible"
void	setShowClusters(boolean showClusters)
void	setShowFingers(boolean showFingers)
void	setShowVelocity(boolean showVelocity)
void	setSurround(float surround) sets scale factor of radius that events outside the cluster size can affect the size of the cluster if scaling is enabled.
void	setThresholdEventsForVisibleCluster(int thresholdEventsForVisibleCluster) number of events to make a potential cluster visible
void	setThresholdISIForVisibleCluster(float thresholdISIForVisibleCluster) number of events to make a potential cluster visible
void	setUseOffPolarityOnlyEnabled(boolean useOffPolarityOnlyEnabled)
void	setUseOnePolarityOnlyEnabled(boolean useOnePolarityOnlyEnabled)
void	setVelocityMixingFactor(float velocityMixingFactor)
void	setWrist_xa(int wrist_xa)
void	setWrist_xb(int wrist_xb)
void	setWrist_ya(int wrist_ya)
void	setWrist_yb(int wrist_yb)
java.lang.String	toString()
void	update(java.util.Observable o, java.lang.Object arg)

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, getDescription, 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, wait, wait, wait

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

isAnnotationEnabled, setAnnotationEnabled

Field Detail

chip

protected AEChip chip

defaultClusterRadius

protected float defaultClusterRadius

mixingFactor

protected float mixingFactor

velocityMixingFactor

protected float velocityMixingFactor

growMergedSizeEnabled

protected boolean growMergedSizeEnabled

ASPECT_RATIO_MAX

public static final float ASPECT_RATIO_MAX

maximum and minimum allowed dynamic aspect ratio

See Also:

Constant Field Values

ASPECT_RATIO_MIN

public static final float ASPECT_RATIO_MIN

maximum and minimum allowed dynamic aspect ratio

See Also:

Constant Field Values

pawIsDetected

protected boolean pawIsDetected

pruneList

protected java.util.LinkedList<PawTracker.Cluster> pruneList

clusterCounter

protected int clusterCounter

fullbrightnessLifetime

protected static final float fullbrightnessLifetime

See Also:

Constant Field Values

random

protected java.util.Random random

Constructor Detail

PawTracker

public PawTracker(AEChip chip)

Creates a new instance of PawTracker

Method Detail

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

getNumClusters

public int getNumClusters()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getClusters

public java.util.List<PawTracker.Cluster> getClusters()

getClusterLifetimeWithoutSupportUs

public final int getClusterLifetimeWithoutSupportUs()

lifetime of cluster in ms without support

setClusterLifetimeWithoutSupportUs

public void setClusterLifetimeWithoutSupportUs(int clusterLifetimeWithoutSupport)

lifetime of cluster in ms without support

getClusterSize

public final float getClusterSize()

max distance from cluster to event as fraction of size of array

setClusterSize

public void setClusterSize(float clusterSize)

sets max distance from cluster center to event as fraction of maximum size of chip pixel array. e.g. clusterSize=0.5 and 128x64 array means cluster has radius of 0.5*128=64 pixels.

Parameters:

clusterSize -

getMaxNumClusters

public final int getMaxNumClusters()

max number of clusters

setMaxNumClusters

public void setMaxNumClusters(int maxNumClusters)

max number of clusters

getThresholdEventsForVisibleCluster

public final int getThresholdEventsForVisibleCluster()

number of events to make a potential cluster visible

setThresholdEventsForVisibleCluster

public void setThresholdEventsForVisibleCluster(int thresholdEventsForVisibleCluster)

number of events to make a potential cluster visible

getThresholdISIForVisibleCluster

public final float getThresholdISIForVisibleCluster()

number of events to make a potential cluster visible

setThresholdISIForVisibleCluster

public void setThresholdISIForVisibleCluster(float thresholdISIForVisibleCluster)

number of events to make a potential cluster visible

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

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

isHighwayPerspectiveEnabled

public boolean isHighwayPerspectiveEnabled()

setHighwayPerspectiveEnabled

public void setHighwayPerspectiveEnabled(boolean highwayPerspectiveEnabled)

getMixingFactor

public float getMixingFactor()

setMixingFactor

public void setMixingFactor(float mixingFactor)

getSurround

public float getSurround()

See Also:

setSurround(float)

setSurround

public void setSurround(float surround)

sets scale factor of radius that events outside the cluster size can affect the size of the cluster if scaling is enabled.

Parameters:

surround - the scale factor, constrained >1 by setter. radius is multiplied by this to determine if event is within surround.

isPathsEnabled

public boolean isPathsEnabled()

See Also:

setPathsEnabled(boolean)

setPathsEnabled

public void setPathsEnabled(boolean pathsEnabled)

Parameters:

pathsEnabled - true to show the history of the cluster locations on each packet

getDynamicSizeEnabled

public boolean getDynamicSizeEnabled()

See Also:

setDynamicSizeEnabled(boolean)

setDynamicSizeEnabled

public void setDynamicSizeEnabled(boolean dynamicSizeEnabled)

Enables cluster size scaling. The clusters are dynamically resized by the distances of the events from the cluster center. If most events are far from the cluster then the cluster size is increased, but if most events are close to the cluster center than the cluster size is decreased. The size change for each event comes from mixing the old size with a the event distance from the center using the mixing factor.

Parameters:

dynamicSizeEnabled - true to enable scaling of cluster size

isColorClustersDifferentlyEnabled

public boolean isColorClustersDifferentlyEnabled()

See Also:

setColorClustersDifferentlyEnabled(boolean)

setColorClustersDifferentlyEnabled

public void setColorClustersDifferentlyEnabled(boolean colorClustersDifferentlyEnabled)

Parameters:

colorClustersDifferentlyEnabled - true to color each cluster a different color. false to color each cluster by its age

update

public void update(java.util.Observable o,
                   java.lang.Object arg)

Specified by:

update in interface java.util.Observer

isUseOnePolarityOnlyEnabled

public boolean isUseOnePolarityOnlyEnabled()

setUseOnePolarityOnlyEnabled

public void setUseOnePolarityOnlyEnabled(boolean useOnePolarityOnlyEnabled)

isUseOffPolarityOnlyEnabled

public boolean isUseOffPolarityOnlyEnabled()

setUseOffPolarityOnlyEnabled

public void setUseOffPolarityOnlyEnabled(boolean useOffPolarityOnlyEnabled)

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

drawBox

protected void drawBox(javax.media.opengl.GL gl,
                       int x,
                       int y,
                       int sx,
                       int sy)

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

annotate

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

annotate the rendered retina frame to show locations of clusters

Specified by:

annotate in interface FrameAnnotater

Parameters:

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

isGrowMergedSizeEnabled

public boolean isGrowMergedSizeEnabled()

setGrowMergedSizeEnabled

public void setGrowMergedSizeEnabled(boolean growMergedSizeEnabled)

getVelocityMixingFactor

public float getVelocityMixingFactor()

setVelocityMixingFactor

public void setVelocityMixingFactor(float velocityMixingFactor)

setShowVelocity

public void setShowVelocity(boolean showVelocity)

isShowVelocity

public boolean isShowVelocity()

isLogDataEnabled

public boolean isLogDataEnabled()

setLogDataEnabled

public void setLogDataEnabled(boolean logDataEnabled)

getAspectRatio

public float getAspectRatio()

setAspectRatio

public void setAspectRatio(float aspectRatio)

isClassifierEnabled

public boolean isClassifierEnabled()

setClassifierEnabled

public void setClassifierEnabled(boolean classifierEnabled)

Sets whether classifier is enabled.

Parameters:

classifierEnabled - true to enable classifier

getClassifierThreshold

public float getClassifierThreshold()

setClassifierThreshold

public void setClassifierThreshold(float classifierThreshold)

isShowAllClusters

public boolean isShowAllClusters()

setShowAllClusters

public void setShowAllClusters(boolean showAllClusters)

Sets annotation visibility of clusters that are not "visible"

Parameters:

showAllClusters - true to show all clusters even if there are not "visible"

isDynamicAspectRatioEnabled

public boolean isDynamicAspectRatioEnabled()

setDynamicAspectRatioEnabled

public void setDynamicAspectRatioEnabled(boolean dynamicAspectRatioEnabled)

getPredictiveVelocityFactor

public int getPredictiveVelocityFactor()

setPredictiveVelocityFactor

public void setPredictiveVelocityFactor(int predictiveVelocityFactor)

setEntry_xa

public void setEntry_xa(int entry_xa)

getEntry_xa

public int getEntry_xa()

setEntry_xb

public void setEntry_xb(int entry_xb)

getEntry_xb

public int getEntry_xb()

setEntry_ya

public void setEntry_ya(int entry_ya)

getEntry_ya

public int getEntry_ya()

setEntry_yb

public void setEntry_yb(int entry_yb)

getEntry_yb

public int getEntry_yb()

setWrist_xa

public void setWrist_xa(int wrist_xa)

getWrist_xa

public int getWrist_xa()

setWrist_xb

public void setWrist_xb(int wrist_xb)

getWrist_xb

public int getWrist_xb()

setWrist_ya

public void setWrist_ya(int wrist_ya)

getWrist_ya

public int getWrist_ya()

setWrist_yb

public void setWrist_yb(int wrist_yb)

getWrist_yb

public int getWrist_yb()

setPaw_tip_size

public void setPaw_tip_size(int paw_tip_size)

getPaw_tip_size

public int getPaw_tip_size()

setPellet_size

public void setPellet_size(int pellet_size)

getPellet_size

public int getPellet_size()

setEntryZone_threshold

public void setEntryZone_threshold(int entryZone_threshold)

getEntryZone_threshold

public int getEntryZone_threshold()

setEntryZone_pixel_threshold

public void setEntryZone_pixel_threshold(int entryZone_pixel_threshold)

getEntryZone_pixel_threshold

public int getEntryZone_pixel_threshold()

getMax_fingers

public int getMax_fingers()

setMax_fingers

public void setMax_fingers(int max_fingers)

isResetPawTracking

public boolean isResetPawTracking()

setResetPawTracking

public void setResetPawTracking(boolean resetPawTracking)

getChange_ratio

public float getChange_ratio()

setChange_ratio

public void setChange_ratio(float change_ratio)

getMin_events_per_cluster

public int getMin_events_per_cluster()

setMin_events_per_cluster

public void setMin_events_per_cluster(int min_events_per_cluster)

setShowClusters

public void setShowClusters(boolean showClusters)

isShowClusters

public boolean isShowClusters()

setShowFingers

public void setShowFingers(boolean showFingers)

isShowFingers

public boolean isShowFingers()