ch.unizh.ini.jaer.projects.pawtracker
Class PawTrackerStereoBoard5

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.pawtracker.PawTrackerStereoBoard5

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

public class PawTrackerStereoBoard5
extends EventFilter2D
implements FrameAnnotater, java.util.Observer

Tracks Rat's Paw

Author:

rogister

Nested Class Summary

class	PawTrackerStereoBoard5.Cage additional classes
class	PawTrackerStereoBoard5.EpipolarFrame
class	PawTrackerStereoBoard5.Point3D Point3D : all data about a point in opengl 3D space
class	PawTrackerStereoBoard5.Zone additional classes

Field Summary

protected AEChip	chip
protected int	colorScale
protected int	DELETE_LINK
protected double	EPS
protected float	grayValue
protected int	labelNumber
protected int	LEFT
protected int	LEFT_MOST_METHOD
static java.text.DateFormat	loggingFilenameDateFormat
protected int	NO_LINK
protected java.util.Vector<ch.unizh.ini.jaer.projects.pawtracker.PawTrackerStereoBoard5.PawCluster>	paws
protected ch.unizh.ini.jaer.projects.pawtracker.PawTrackerStereoBoard5.PlaneTracker	planeTracker
protected int	RIGHT
protected int	RIGHT_MOST_METHOD

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

PawTrackerStereoBoard5(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
void	closeLogData()
float	computeRangeTotal(int radius)
protected float	direction(float x0, float y0, float x1, float y1)
void	displayAllEventTrackers(javax.media.opengl.GL gl)
protected float	distanceBetween(float x1, float y1, float x2, float y2)
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)
void	doLog() log
void	doPause()
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	getBuffer_size()
float	getCage_distance()
float	getCage_door_height()
float	getCage_door_width()
float	getCage_height()
float	getCage_platform_length()
float	getCage_width()
float	getColorizeFactor()
int	getColorizePeriod()
int	getCube_size()
float	getEventTrackerMix()
int	getEventTrackerSize()
float	getExpansion_mix()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getFinger_mix()
int	getFinger_surround()
float	getFocal_length()
int	getGrasp_max_elevation()
float	getIntensity()
int	getIntensityZoom()
int	getMax_finger_clusters()
int	getMaxNbEventTracker()
float	getPaw_mix_off_evts()
float	getPaw_mix_on_evts()
int	getPaw_surround()
float	getPixel_size()
int	getRecordUpTo()
float	getRetina_angle()
float	getRetina_height()
float	getRetina_tilt_angle()
float	getRetinae_distance()
float	getShadowFactor()
int	getStart_min_events()
float	getTimeDelay()
int	getTracker_lifeTime()
int	getTracker_prelifeTime()
int	getTracker_viable_nb_events()
int	getTrackerLineWidth()
float	getTrackerSubsamplingDistance()
float	getValueThreshold()
float	getVelocity_mix()
float	getVelocityFactor()
float	getVelocityMin()
float	getVelocityThreshold()
float	getX_finger_dist_min()
float	getY_finger_dist_min()
int	getY_monitor()
float	getZ_finger_dist_min()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
void	initLogData()
boolean	isLogDataEnabled()
boolean	isRecordTrackerData()
boolean	isResetClusters()
boolean	isResetPawTracking()
boolean	isRestart()
boolean	isShow2DWindow()
boolean	isShow3DWindow()
boolean	isShowAll()
boolean	isShowAxes()
boolean	isShowCage()
boolean	isShowEvenTrackers()
boolean	isShowFingers()
boolean	isShowFingersRange()
boolean	isShowRetina()
boolean	isShowScore()
boolean	isShowVelocity()
boolean	isShowXColor()
boolean	isShowYColor()
boolean	isShowZColor()
boolean	isTrackFingers()
boolean	isUseVelocity()
void	logData(java.lang.String s)
protected float	orientation(int x0, int y0, int x1, int y1)
void	printClusterData()
protected void	processEvent(BinocularEvent e)
void	resetFilter() should reset the filter to initial state
protected float	rotateXonY(float x, float z, float xRotationCenter, float zRotationCenter, float angle)
protected float	rotateYonX(float y, float z, float yRotationCenter, float zRotationCenter, float angle)
protected float	rotateZonX(float y, float z, float yRotationCenter, float zRotationCenter, float angle)
protected float	rotateZonY(float x, float z, float xRotationCenter, float zRotationCenter, float angle)
void	setAlpha(float alpha)
void	setBrightness(float brightness)
void	setBuffer_size(int buffer_size)
void	setCage_distance(float cage_distance)
void	setCage_door_height(float cage_door_height)
void	setCage_door_width(float cage_door_width)
void	setCage_height(float cage_height)
void	setCage_platform_length(float cage_platform_length)
void	setCage_width(float cage_width)
void	setColorizeFactor(float colorizeFactor)
void	setColorizePeriod(int colorizePeriod)
void	setCube_size(int cube_size)
void	setEventTrackerMix(float eventTrackerMix)
void	setEventTrackerSize(int eventTrackerSize)
void	setExpansion_mix(float expansion_mix)
void	setFinger_mix(float finger_mix)
void	setFinger_surround(int finger_surround)
void	setFocal_length(float focal_length)
void	setGrasp_max_elevation(int grasp_max_elevation)
void	setIntensity(float intensity)
void	setIntensityZoom(int intensityZoom)
void	setLogDataEnabled(boolean logDataEnabled)
void	setMax_finger_clusters(int max_finger_clusters)
void	setMaxNbEventTracker(int maxNbEventTracker)
void	setPaw_mix_off_evts(float paw_mix_off_evts)
void	setPaw_mix_on_evts(float paw_mix_on_evts)
void	setPaw_surround(int paw_surround)
void	setPixel_size(float pixel_size)
void	setRecordTrackerData(boolean recordTrackerData)
void	setRecordUpTo(int recordUpTo)
void	setResetClusters(boolean resetClusters)
void	setResetPawTracking(boolean resetPawTracking)
void	setRestart(boolean restart)
void	setRetina_angle(float retina_angle)
void	setRetina_height(float retina_height)
void	setRetina_tilt_angle(float retina_tilt_angle)
void	setRetinae_distance(float retinae_distance)
void	setShadowFactor(float shadowFactor)
void	setShow2DWindow(boolean show2DWindow)
void	setShow3DWindow(boolean show3DWindow)
void	setShowAll(boolean showAll)
void	setShowAxes(boolean showAxes)
void	setShowCage(boolean showCage)
void	setShowEvenTrackers(boolean showEvenTrackers)
void	setShowFingers(boolean showFingers)
void	setShowFingersRange(boolean showFingersRange)
void	setShowRetina(boolean showRetina)
void	setShowScore(boolean showScore)
void	setShowVelocity(boolean showVelocity)
void	setShowXColor(boolean showXColor)
void	setShowYColor(boolean showYColor)
void	setShowZColor(boolean showZColor)
void	setStart_min_events(int start_min_events)
void	setTimeDelay(float timeDelay)
void	setTracker_lifeTime(int tracker_lifeTime)
void	setTracker_prelifeTime(int tracker_prelifeTime)
void	setTracker_viable_nb_events(int tracker_viable_nb_events)
void	setTrackerLineWidth(int trackerLineWidth)
void	setTrackerSubsamplingDistance(float trackerSubsamplingDistance)
void	setTrackFingers(boolean trackFingers)
void	setUseVelocity(boolean useVelocity)
void	setValueThreshold(float valueThreshold)
void	setVelocity_mix(float velocity_mix)
void	setVelocityFactor(float velocityFactor)
void	setVelocityMin(float velocityMin)
void	setVelocityThreshold(float velocityThreshold)
void	setX_finger_dist_min(float x_finger_dist_min)
void	setY_finger_dist_min(float y_finger_dist_min)
void	setY_monitor(int y_monitor)
void	setZ_finger_dist_min(float z_finger_dist_min)
java.lang.String	toString()
PawTrackerStereoBoard5.Point3D	triangulate(PawTrackerStereoBoard5.Point3D p2, PawTrackerStereoBoard5.Point3D p1, PawTrackerStereoBoard5.Point3D p4, PawTrackerStereoBoard5.Point3D p3)
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

loggingFilenameDateFormat

public static java.text.DateFormat loggingFilenameDateFormat

EPS

protected double EPS

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

grayValue

protected float grayValue

colorScale

protected int colorScale

paws

protected java.util.Vector<ch.unizh.ini.jaer.projects.pawtracker.PawTrackerStereoBoard5.PawCluster> paws

planeTracker

protected ch.unizh.ini.jaer.projects.pawtracker.PawTrackerStereoBoard5.PlaneTracker planeTracker

Constructor Detail

PawTrackerStereoBoard5

public PawTrackerStereoBoard5(AEChip chip)

Creates a new instance of PawTracker

Method Detail

doLog

public void doLog()

log

doPause

public void doPause()

initLogData

public void initLogData()

logData

public void logData(java.lang.String s)

closeLogData

public void closeLogData()

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

printClusterData

public void printClusterData()

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)

triangulate

public PawTrackerStereoBoard5.Point3D triangulate(PawTrackerStereoBoard5.Point3D p2,
                                                  PawTrackerStereoBoard5.Point3D p1,
                                                  PawTrackerStereoBoard5.Point3D p4,
                                                  PawTrackerStereoBoard5.Point3D p3)

rotateYonX

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

rotateZonX

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

rotateXonY

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

rotateZonY

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

distanceBetween

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

distanceBetween

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

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

displayAllEventTrackers

public void displayAllEventTrackers(javax.media.opengl.GL gl)

isUseVelocity

public boolean isUseVelocity()

setUseVelocity

public void setUseVelocity(boolean useVelocity)

isLogDataEnabled

public boolean isLogDataEnabled()

setLogDataEnabled

public void setLogDataEnabled(boolean logDataEnabled)

setIntensityZoom

public void setIntensityZoom(int intensityZoom)

getIntensityZoom

public int getIntensityZoom()

isResetPawTracking

public boolean isResetPawTracking()

setResetPawTracking

public void setResetPawTracking(boolean resetPawTracking)

isResetClusters

public boolean isResetClusters()

setResetClusters

public void setResetClusters(boolean resetClusters)

isRestart

public boolean isRestart()

setRestart

public void setRestart(boolean restart)

setShowEvenTrackers

public void setShowEvenTrackers(boolean showEvenTrackers)

isShowEvenTrackers

public boolean isShowEvenTrackers()

setShowVelocity

public void setShowVelocity(boolean showVelocity)

isShowVelocity

public boolean isShowVelocity()

setShowScore

public void setShowScore(boolean showScore)

isShowScore

public boolean isShowScore()

setShowCage

public void setShowCage(boolean showCage)

isShowCage

public boolean isShowCage()

setShowRetina

public void setShowRetina(boolean showRetina)

isShowRetina

public boolean isShowRetina()

setShow2DWindow

public void setShow2DWindow(boolean show2DWindow)

isShow2DWindow

public boolean isShow2DWindow()

setShow3DWindow

public void setShow3DWindow(boolean show3DWindow)

isShow3DWindow

public boolean isShow3DWindow()

setShowFingers

public void setShowFingers(boolean showFingers)

isShowFingers

public boolean isShowFingers()

setShowFingersRange

public void setShowFingersRange(boolean showFingersRange)

isShowFingersRange

public boolean isShowFingersRange()

setShowAll

public void setShowAll(boolean showAll)

isShowAll

public boolean isShowAll()

setShowAxes

public void setShowAxes(boolean showAxes)

isShowAxes

public boolean isShowAxes()

getBrightness

public float getBrightness()

setBrightness

public void setBrightness(float brightness)

setAlpha

public void setAlpha(float alpha)

getAlpha

public float getAlpha()

setIntensity

public void setIntensity(float intensity)

getIntensity

public float getIntensity()

setValueThreshold

public void setValueThreshold(float valueThreshold)

getValueThreshold

public float getValueThreshold()

setGrasp_max_elevation

public void setGrasp_max_elevation(int grasp_max_elevation)

getGrasp_max_elevation

public int getGrasp_max_elevation()

setMax_finger_clusters

public void setMax_finger_clusters(int max_finger_clusters)

getMax_finger_clusters

public int getMax_finger_clusters()

setCage_distance

public void setCage_distance(float cage_distance)

getCage_distance

public float getCage_distance()

getRetina_tilt_angle

public float getRetina_tilt_angle()

setRetina_tilt_angle

public void setRetina_tilt_angle(float retina_tilt_angle)

setRetina_height

public void setRetina_height(float retina_height)

getRetina_height

public float getRetina_height()

setCage_door_height

public void setCage_door_height(float cage_door_height)

getCage_door_height

public float getCage_door_height()

setCage_height

public void setCage_height(float cage_height)

getCage_height

public float getCage_height()

setCage_width

public void setCage_width(float cage_width)

getCage_width

public float getCage_width()

setCage_platform_length

public void setCage_platform_length(float cage_platform_length)

getCage_platform_length

public float getCage_platform_length()

setCage_door_width

public void setCage_door_width(float cage_door_width)

getCage_door_width

public float getCage_door_width()

setColorizeFactor

public void setColorizeFactor(float colorizeFactor)

getColorizeFactor

public float getColorizeFactor()

setShadowFactor

public void setShadowFactor(float shadowFactor)

getShadowFactor

public float getShadowFactor()

setColorizePeriod

public void setColorizePeriod(int colorizePeriod)

getColorizePeriod

public int getColorizePeriod()

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()

setTrackFingers

public void setTrackFingers(boolean trackFingers)

isTrackFingers

public boolean isTrackFingers()

setCube_size

public void setCube_size(int cube_size)

getCube_size

public int getCube_size()

getEventTrackerMix

public float getEventTrackerMix()

setEventTrackerMix

public void setEventTrackerMix(float eventTrackerMix)

getFinger_mix

public float getFinger_mix()

setFinger_mix

public void setFinger_mix(float finger_mix)

getPaw_mix_on_evts

public float getPaw_mix_on_evts()

setPaw_mix_on_evts

public void setPaw_mix_on_evts(float paw_mix_on_evts)

getPaw_mix_off_evts

public float getPaw_mix_off_evts()

setPaw_mix_off_evts

public void setPaw_mix_off_evts(float paw_mix_off_evts)

getExpansion_mix

public float getExpansion_mix()

setExpansion_mix

public void setExpansion_mix(float expansion_mix)

getVelocity_mix

public float getVelocity_mix()

setVelocity_mix

public void setVelocity_mix(float velocity_mix)

getVelocityFactor

public float getVelocityFactor()

setVelocityFactor

public void setVelocityFactor(float velocityFactor)

getVelocityMin

public float getVelocityMin()

setVelocityMin

public void setVelocityMin(float velocityMin)

getVelocityThreshold

public float getVelocityThreshold()

setVelocityThreshold

public void setVelocityThreshold(float velocityThreshold)

getTrackerSubsamplingDistance

public float getTrackerSubsamplingDistance()

setTrackerSubsamplingDistance

public void setTrackerSubsamplingDistance(float trackerSubsamplingDistance)

getFinger_surround

public int getFinger_surround()

setFinger_surround

public void setFinger_surround(int finger_surround)

getPaw_surround

public int getPaw_surround()

setPaw_surround

public void setPaw_surround(int paw_surround)

getY_monitor

public int getY_monitor()

setY_monitor

public void setY_monitor(int y_monitor)

getTracker_lifeTime

public int getTracker_lifeTime()

setTracker_lifeTime

public void setTracker_lifeTime(int tracker_lifeTime)

getTracker_prelifeTime

public int getTracker_prelifeTime()

setTracker_prelifeTime

public void setTracker_prelifeTime(int tracker_prelifeTime)

getTracker_viable_nb_events

public int getTracker_viable_nb_events()

setTracker_viable_nb_events

public void setTracker_viable_nb_events(int tracker_viable_nb_events)

getFocal_length

public float getFocal_length()

setFocal_length

public void setFocal_length(float focal_length)

setRetinae_distance

public void setRetinae_distance(float retinae_distance)

getRetinae_distance

public float getRetinae_distance()

setPixel_size

public void setPixel_size(float pixel_size)

getPixel_size

public float getPixel_size()

setRetina_angle

public void setRetina_angle(float retina_angle)

getRetina_angle

public float getRetina_angle()

setRecordTrackerData

public void setRecordTrackerData(boolean recordTrackerData)

isRecordTrackerData

public boolean isRecordTrackerData()

getEventTrackerSize

public int getEventTrackerSize()

setEventTrackerSize

public void setEventTrackerSize(int eventTrackerSize)

getTrackerLineWidth

public int getTrackerLineWidth()

setTrackerLineWidth

public void setTrackerLineWidth(int trackerLineWidth)

getStart_min_events

public int getStart_min_events()

setStart_min_events

public void setStart_min_events(int start_min_events)

setRecordUpTo

public void setRecordUpTo(int recordUpTo)

getRecordUpTo

public int getRecordUpTo()

setTimeDelay

public void setTimeDelay(float timeDelay)

getTimeDelay

public float getTimeDelay()

setX_finger_dist_min

public void setX_finger_dist_min(float x_finger_dist_min)

getX_finger_dist_min

public float getX_finger_dist_min()

setY_finger_dist_min

public void setY_finger_dist_min(float y_finger_dist_min)

getY_finger_dist_min

public float getY_finger_dist_min()

setZ_finger_dist_min

public void setZ_finger_dist_min(float z_finger_dist_min)

getZ_finger_dist_min

public float getZ_finger_dist_min()

getBuffer_size

public int getBuffer_size()

setBuffer_size

public void setBuffer_size(int buffer_size)

getMaxNbEventTracker

public int getMaxNbEventTracker()

setMaxNbEventTracker

public void setMaxNbEventTracker(int maxNbEventTracker)