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

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

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

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

Tracks Rat's Paw

Author:

rogister

Nested Class Summary

class

PawTrackerStereoBoard.EventPoint EventPoint : all data about a point in retina space

Field Summary

protected AEChip	chip
protected int	colorScale
protected int[][]	correctionMatrix
protected int	DELETE_LINK
protected java.util.Vector<ch.unizh.ini.jaer.projects.pawtracker.PawTrackerStereoBoard.FingerCluster>	fingers
protected float	grayValue
protected int	labelNumber
protected int	LEFT
protected int	LEFT_MOST_METHOD
protected PawTrackerStereoBoard.EventPoint[][]	leftPoints
protected int	NO_LINK
protected int	RIGHT
protected int	RIGHT_MOST_METHOD
protected PawTrackerStereoBoard.EventPoint[][]	rightPoints

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

PawTrackerStereoBoard(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) // drawing on player window
float	computeRangeTotal(int radius)
protected float	decayedValue(float value, int time)
protected float	direction(float x0, float y0, float x1, float y1)
protected float	distanceBetween(int x1, int y1, int x2, int y2)
protected float	distanceBetween(int x1, int y1, int z1, int x2, int y2, int z2)
protected void	drawBox(javax.media.opengl.GL gl, int x, int x2, int y, int y2)
protected void	drawBoxCentered(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	getAlpha()
float	getBrightness()
int	getCage_depth()
float	getColorizeFactor()
int	getColorizePeriod()
float	getCorrectLeftAngle()
float	getCorrectRightAngle()
int	getCube_size()
int	getDecayTimeLimit()
int	getDisparity_range()
int	getDispAvgRange()
int	getDoor_xa()
int	getDoor_xb()
int	getDoor_ya()
int	getDoor_yb()
int	getDoor_yc()
int	getDoor_z()
float	getEvent_strength()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getFinger_mix()
int	getFinger_surround()
float	getIntensity()
int	getIntensityZoom()
int	getLowFilter_density()
int	getLowFilter_density2()
int	getLowFilter_radius()
int	getLowFilter_radius2()
float	getLowFilter_threshold()
int	getMax_finger_clusters()
float	getPlaneAngle()
float	getPlatformAngle()
float	getShadowFactor()
boolean	getshowCorrectionGradient()
boolean	getShowCorrectionMatrix()
int	getTracker_timeLife()
float	getValueMargin()
float	getValueThreshold()
float	getViewAngle()
float	getYCurveFactor()
int	getYLeftCorrection()
int	getYRightCorrection()
int	getZFactor()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isCorrectY()
boolean	isDecayOn()
boolean	isGoThroughMode()
boolean	isHighlightDecay()
boolean	isLogDataEnabled()
boolean	isNotCrossing()
boolean	isResetPawTracking()
boolean	isRestart()
boolean	isScaleAcc()
boolean	isShow2DWindow()
boolean	isShow3DWindow()
boolean	isShowAcc()
boolean	isShowAll()
boolean	isShowAxes()
boolean	isShowCage()
boolean	isShowDecay()
boolean	isShowFingers()
boolean	isShowFingerTips()
boolean	isShowFrame()
boolean	isShowOnlyAcc()
boolean	isShowRight()
boolean	isShowRLColors()
boolean	isShowScore()
boolean	isShowSecondFilter()
boolean	isShowXColor()
boolean	isShowYColor()
boolean	isShowZColor()
boolean	isShowZones()
boolean	isUseCorrections()
boolean	isUseFastMatching()
boolean	isUseFilter()
boolean	isUseGroups()
protected float	orientation(int x0, int y0, int x1, int y1)
protected void	processEvent(BinocularEvent e)
void	resetFilter() should reset the filter to initial state
protected int	rotateXonY(int x, int z, int xRotationCenter, int zRotationCenter, float angle)
protected int	rotateYonX(int y, int z, int yRotationCenter, int zRotationCenter, float angle)
protected int	rotateZonX(int y, int z, int yRotationCenter, int zRotationCenter, float angle)
protected int	rotateZonY(int x, int z, int xRotationCenter, int zRotationCenter, float angle)
void	setAlpha(float alpha)
void	setBrightness(float brightness)
void	setCage_depth(int cage_depth)
void	setColorizeFactor(float colorizeFactor)
void	setColorizePeriod(int colorizePeriod)
void	setCorrectLeftAngle(float correctLeftAngle)
void	setCorrectRightAngle(float correctRightAngle)
void	setCorrectY(boolean correctY)
void	setCube_size(int cube_size)
void	setDecayOn(boolean decayOn)
void	setDecayTimeLimit(int decayTimeLimit)
void	setDisparity_range(int disparity_range)
void	setDispAvgRange(int dispAvgRange)
void	setDoor_xa(int door_xa)
void	setDoor_xb(int door_xb)
void	setDoor_ya(int door_ya)
void	setDoor_yb(int door_yb)
void	setDoor_yc(int door_yc)
void	setDoor_z(int door_z)
void	setEvent_strength(float event_strength)
void	setFinger_mix(float finger_mix)
void	setFinger_surround(int finger_surround)
void	setGoThroughMode(boolean goThroughMode)
void	setHighlightDecay(boolean highlightDecay)
void	setIntensity(float intensity)
void	setIntensityZoom(int intensityZoom)
void	setLogDataEnabled(boolean logDataEnabled)
void	setLowFilter_density(int lowFilter_density)
void	setLowFilter_density2(int lowFilter_density2)
void	setLowFilter_radius(int lowFilter_radius)
void	setLowFilter_radius2(int lowFilter_radius2)
void	setLowFilter_threshold(float lowFilter_threshold)
void	setMax_finger_clusters(int max_finger_clusters)
void	setNotCrossing(boolean notCrossing)
void	setPlaneAngle(float planeAngle)
void	setPlatformAngle(float platformAngle)
void	setResetPawTracking(boolean resetPawTracking)
void	setRestart(boolean restart)
void	setScaleAcc(boolean scaleAcc)
void	setShadowFactor(float shadowFactor)
void	setShow2DWindow(boolean show2DWindow)
void	setShow3DWindow(boolean show3DWindow)
void	setShowAcc(boolean showAcc)
void	setShowAll(boolean showAll)
void	setShowAxes(boolean showAxes)
void	setShowCage(boolean showCage)
void	setShowCorrectionGradient(boolean showCorrectionGradient)
void	setShowCorrectionMatrix(boolean showCorrectionMatrix)
void	setShowDecay(boolean showDecay)
void	setShowFingers(boolean showFingers)
void	setShowFingerTips(boolean showFingerTips)
void	setShowFrame(boolean showFrame)
void	setShowOnlyAcc(boolean showOnlyAcc)
void	setShowRight(boolean showRight)
void	setShowRLColors(boolean showRLColors)
void	setShowScore(boolean showScore)
void	setShowSecondFilter(boolean showSecondFilter)
void	setShowXColor(boolean showXColor)
void	setShowYColor(boolean showYColor)
void	setShowZColor(boolean showZColor)
void	setShowZones(boolean showZones)
void	setTracker_timeLife(int tracker_timeLife)
void	setUseCorrections(boolean useCorrections)
void	setUseFastMatching(boolean useFastMatching)
void	setUseFilter(boolean useFilter)
void	setUseGroups(boolean useGroups)
void	setValueMargin(float valueMargin)
void	setValueThreshold(float valueThreshold)
void	setViewAngle(float viewAngle)
void	setYCurveFactor(float yCurveFactor)
void	setYLeftCorrection(int yLeftCorrection)
void	setYRightCorrection(int yRightCorrection)
void	setZFactor(int zFactor)
java.lang.String	toString()
void	update(java.util.Observable o, java.lang.Object arg)
void	validateParameterChanges()

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

RIGHT

protected final int RIGHT

See Also:

Constant Field Values

LEFT

protected final int LEFT

See Also:

Constant Field Values

RIGHT_MOST_METHOD

protected final int RIGHT_MOST_METHOD

See Also:

Constant Field Values

LEFT_MOST_METHOD

protected final int LEFT_MOST_METHOD

See Also:

Constant Field Values

NO_LINK

protected final int NO_LINK

See Also:

Constant Field Values

DELETE_LINK

protected final int DELETE_LINK

See Also:

Constant Field Values

labelNumber

protected int labelNumber

chip

protected AEChip chip

leftPoints

protected PawTrackerStereoBoard.EventPoint[][] leftPoints

rightPoints

protected PawTrackerStereoBoard.EventPoint[][] rightPoints

correctionMatrix

protected int[][] correctionMatrix

grayValue

protected float grayValue

colorScale

protected int colorScale

fingers

protected java.util.Vector<ch.unizh.ini.jaer.projects.pawtracker.PawTrackerStereoBoard.FingerCluster> fingers

Constructor Detail

PawTrackerStereoBoard

public PawTrackerStereoBoard(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

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

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

update

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

Specified by:

update in interface java.util.Observer

validateParameterChanges

public void validateParameterChanges()

computeRangeTotal

public float computeRangeTotal(int radius)

processEvent

protected void processEvent(BinocularEvent e)

rotateYonX

protected int rotateYonX(int y,
                         int z,
                         int yRotationCenter,
                         int zRotationCenter,
                         float angle)

rotateZonX

protected int rotateZonX(int y,
                         int z,
                         int yRotationCenter,
                         int zRotationCenter,
                         float angle)

rotateXonY

protected int rotateXonY(int x,
                         int z,
                         int xRotationCenter,
                         int zRotationCenter,
                         float angle)

rotateZonY

protected int rotateZonY(int x,
                         int z,
                         int xRotationCenter,
                         int zRotationCenter,
                         float angle)

distanceBetween

protected float distanceBetween(int x1,
                                int y1,
                                int x2,
                                int y2)

distanceBetween

protected float distanceBetween(int x1,
                                int y1,
                                int z1,
                                int x2,
                                int y2,
                                int z2)

direction

protected float direction(float x0,
                          float y0,
                          float x1,
                          float y1)

orientation

protected float orientation(int x0,
                            int y0,
                            int x1,
                            int y1)

decayedValue

protected float decayedValue(float value,
                             int time)

annotate

public void annotate(java.awt.Graphics2D g)

// drawing on player window

Specified by:

annotate in interface FrameAnnotater

Parameters:

g - the Graphics2D context

drawBoxCentered

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

drawBox

protected void drawBox(javax.media.opengl.GL gl,
                       int x,
                       int x2,
                       int y,
                       int y2)

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

isLogDataEnabled

public boolean isLogDataEnabled()

setLogDataEnabled

public void setLogDataEnabled(boolean logDataEnabled)

setDecayTimeLimit

public void setDecayTimeLimit(int decayTimeLimit)

getDecayTimeLimit

public int getDecayTimeLimit()

setIntensityZoom

public void setIntensityZoom(int intensityZoom)

getIntensityZoom

public int getIntensityZoom()

setDoor_z

public void setDoor_z(int door_z)

getDoor_z

public int getDoor_z()

setDoor_xa

public void setDoor_xa(int door_xa)

getDoor_xa

public int getDoor_xa()

setDoor_xb

public void setDoor_xb(int door_xb)

getDoor_xb

public int getDoor_xb()

setDoor_ya

public void setDoor_ya(int door_ya)

getDoor_ya

public int getDoor_ya()

setDoor_yb

public void setDoor_yb(int door_yb)

getDoor_yb

public int getDoor_yb()

setDoor_yc

public void setDoor_yc(int door_yc)

getDoor_yc

public int getDoor_yc()

setEvent_strength

public void setEvent_strength(float event_strength)

getEvent_strength

public float getEvent_strength()

isResetPawTracking

public boolean isResetPawTracking()

setResetPawTracking

public void setResetPawTracking(boolean resetPawTracking)

isRestart

public boolean isRestart()

setRestart

public void setRestart(boolean restart)

setShowCorrectionGradient

public void setShowCorrectionGradient(boolean showCorrectionGradient)

getshowCorrectionGradient

public boolean getshowCorrectionGradient()

setShowCorrectionMatrix

public void setShowCorrectionMatrix(boolean showCorrectionMatrix)

getShowCorrectionMatrix

public boolean getShowCorrectionMatrix()

setShowSecondFilter

public void setShowSecondFilter(boolean showSecondFilter)

isShowSecondFilter

public boolean isShowSecondFilter()

setScaleAcc

public void setScaleAcc(boolean scaleAcc)

isScaleAcc

public boolean isScaleAcc()

setShowAcc

public void setShowAcc(boolean showAcc)

isShowAcc

public boolean isShowAcc()

setShowOnlyAcc

public void setShowOnlyAcc(boolean showOnlyAcc)

isShowOnlyAcc

public boolean isShowOnlyAcc()

setShowDecay

public void setShowDecay(boolean showDecay)

isShowDecay

public boolean isShowDecay()

setUseFilter

public void setUseFilter(boolean useFilter)

isUseFilter

public boolean isUseFilter()

setDecayOn

public void setDecayOn(boolean decayOn)

isDecayOn

public boolean isDecayOn()

setShowFrame

public void setShowFrame(boolean showFrame)

isShowFrame

public boolean isShowFrame()

setShowCage

public void setShowCage(boolean showCage)

isShowCage

public boolean isShowCage()

setShow2DWindow

public void setShow2DWindow(boolean show2DWindow)

isShow2DWindow

public boolean isShow2DWindow()

setShow3DWindow

public void setShow3DWindow(boolean show3DWindow)

isShow3DWindow

public boolean isShow3DWindow()

setShowScore

public void setShowScore(boolean showScore)

isShowScore

public boolean isShowScore()

setShowRight

public void setShowRight(boolean showRight)

isShowRight

public boolean isShowRight()

setShowFingers

public void setShowFingers(boolean showFingers)

isShowFingers

public boolean isShowFingers()

setShowFingerTips

public void setShowFingerTips(boolean showFingerTips)

isShowFingerTips

public boolean isShowFingerTips()

setShowZones

public void setShowZones(boolean showZones)

isShowZones

public boolean isShowZones()

setShowAll

public void setShowAll(boolean showAll)

isShowAll

public boolean isShowAll()

setUseFastMatching

public void setUseFastMatching(boolean useFastMatching)

isUseFastMatching

public boolean isUseFastMatching()

setShowRLColors

public void setShowRLColors(boolean showRLColors)

isShowRLColors

public boolean isShowRLColors()

setShowAxes

public void setShowAxes(boolean showAxes)

isShowAxes

public boolean isShowAxes()

getLowFilter_radius

public int getLowFilter_radius()

setLowFilter_radius

public void setLowFilter_radius(int lowFilter_radius)

getLowFilter_density

public int getLowFilter_density()

setLowFilter_density

public void setLowFilter_density(int lowFilter_density)

getLowFilter_threshold

public float getLowFilter_threshold()

setLowFilter_threshold

public void setLowFilter_threshold(float lowFilter_threshold)

getLowFilter_radius2

public int getLowFilter_radius2()

setLowFilter_radius2

public void setLowFilter_radius2(int lowFilter_radius2)

getLowFilter_density2

public int getLowFilter_density2()

setLowFilter_density2

public void setLowFilter_density2(int lowFilter_density2)

getBrightness

public float getBrightness()

setBrightness

public void setBrightness(float brightness)

getPlaneAngle

public float getPlaneAngle()

setPlaneAngle

public void setPlaneAngle(float planeAngle)

getViewAngle

public float getViewAngle()

setViewAngle

public void setViewAngle(float viewAngle)

getPlatformAngle

public float getPlatformAngle()

setPlatformAngle

public void setPlatformAngle(float platformAngle)

setAlpha

public void setAlpha(float alpha)

getAlpha

public float getAlpha()

setIntensity

public void setIntensity(float intensity)

getIntensity

public float getIntensity()

setDispAvgRange

public void setDispAvgRange(int dispAvgRange)

getDispAvgRange

public int getDispAvgRange()

setValueThreshold

public void setValueThreshold(float valueThreshold)

getValueThreshold

public float getValueThreshold()

setMax_finger_clusters

public void setMax_finger_clusters(int max_finger_clusters)

getMax_finger_clusters

public int getMax_finger_clusters()

setCage_depth

public void setCage_depth(int cage_depth)

getCage_depth

public int getCage_depth()

setYLeftCorrection

public void setYLeftCorrection(int yLeftCorrection)

getYLeftCorrection

public int getYLeftCorrection()

setYRightCorrection

public void setYRightCorrection(int yRightCorrection)

getYRightCorrection

public int getYRightCorrection()

setYCurveFactor

public void setYCurveFactor(float yCurveFactor)

getYCurveFactor

public float getYCurveFactor()

setColorizeFactor

public void setColorizeFactor(float colorizeFactor)

getColorizeFactor

public float getColorizeFactor()

setShadowFactor

public void setShadowFactor(float shadowFactor)

getShadowFactor

public float getShadowFactor()

setZFactor

public void setZFactor(int zFactor)

getZFactor

public int getZFactor()

setValueMargin

public void setValueMargin(float valueMargin)

getValueMargin

public float getValueMargin()

setCorrectLeftAngle

public void setCorrectLeftAngle(float correctLeftAngle)

getCorrectLeftAngle

public float getCorrectLeftAngle()

setCorrectRightAngle

public void setCorrectRightAngle(float correctRightAngle)

getCorrectRightAngle

public float getCorrectRightAngle()

setColorizePeriod

public void setColorizePeriod(int colorizePeriod)

getColorizePeriod

public int getColorizePeriod()

setHighlightDecay

public void setHighlightDecay(boolean highlightDecay)

isHighlightDecay

public boolean isHighlightDecay()

setShowZColor

public void setShowZColor(boolean showZColor)

isShowZColor

public boolean isShowZColor()

setShowYColor

public void setShowYColor(boolean showYColor)

isShowYColor

public boolean isShowYColor()

setShowXColor

public void setShowXColor(boolean showXColor)

isShowXColor

public boolean isShowXColor()

setCorrectY

public void setCorrectY(boolean correctY)

isCorrectY

public boolean isCorrectY()

setCube_size

public void setCube_size(int cube_size)

getCube_size

public int getCube_size()

setDisparity_range

public void setDisparity_range(int disparity_range)

getDisparity_range

public int getDisparity_range()

setNotCrossing

public void setNotCrossing(boolean notCrossing)

isNotCrossing

public boolean isNotCrossing()

getFinger_mix

public float getFinger_mix()

setFinger_mix

public void setFinger_mix(float finger_mix)

getFinger_surround

public int getFinger_surround()

setFinger_surround

public void setFinger_surround(int finger_surround)

getTracker_timeLife

public int getTracker_timeLife()

setTracker_timeLife

public void setTracker_timeLife(int tracker_timeLife)

setUseGroups

public void setUseGroups(boolean useGroups)

isUseGroups

public boolean isUseGroups()

setGoThroughMode

public void setGoThroughMode(boolean goThroughMode)

isGoThroughMode

public boolean isGoThroughMode()

setUseCorrections

public void setUseCorrections(boolean useCorrections)

isUseCorrections

public boolean isUseCorrections()