ch.unizh.ini.jaer.projects.pencilbalancer
Class PencilBalancer

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.pencilbalancer.PencilBalancer

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

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

Uses a pair of DVS cameras to control an XY table to balance a pencil.

Author:

jc

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

PencilBalancer(AEChip chip)
Creates a new instance of PencilBalancerFilter

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.
void	computeDesiredTablePosition()
EventPacket<?>	filterPacket(EventPacket<?> in) Subclasses implement this method to define custom processing.
int	getComPortNumber()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getGainAngle()
float	getGainBase()
float	getGainMotion()
float	getMotionDecay()
boolean	getObtainTrueTablePosition()
boolean	getOffsetAutomatic()
float	getOffsetX()
float	getOffsetY()
float	getPolyDecay()
float	getPolyStddev()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isConnectServo()
boolean	isDisplayXEvents()
boolean	isDisplayYEvents()
boolean	isEnableLogging()
boolean	isIgnoreTimestampOrdering()
void	resetFilter() should reset the filter to initial state
void	setComPortNumber(int comPortNumber)
void	setConnectServo(boolean connectServoFlag)
void	setDisplayXEvents(boolean displayXEvents)
void	setDisplayYEvents(boolean displayYEvents)
void	setEnableLogging(boolean enableLogging)
void	setGainAngle(float gainAngle)
void	setGainBase(float gainBase)
void	setGainMotion(float gainMotion)
void	setIgnoreTimestampOrdering(boolean ignoreTimestampOrdering)
void	setMotionDecay(float motionDecay)
void	setObtainTrueTablePosition(boolean obtainTrueTablePosition)
void	setOffsetAutomatic(boolean offsetAutomatic)
void	setOffsetX(float offsetX)
void	setOffsetY(float offsetY)
void	setPolyDecay(float polyDecay)
void	setPolyStddev(float polyStddev)
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, toString, wait, wait, wait

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

isAnnotationEnabled, setAnnotationEnabled

Constructor Detail

PencilBalancer

public PencilBalancer(AEChip chip)

Creates a new instance of PencilBalancerFilter

Method Detail

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

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

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

update

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

Specified by:

update in interface java.util.Observer

computeDesiredTablePosition

public void computeDesiredTablePosition()

getPolyDecay

public float getPolyDecay()

setPolyDecay

public void setPolyDecay(float polyDecay)

getPolyStddev

public float getPolyStddev()

setPolyStddev

public void setPolyStddev(float polyStddev)

getObtainTrueTablePosition

public boolean getObtainTrueTablePosition()

setObtainTrueTablePosition

public void setObtainTrueTablePosition(boolean obtainTrueTablePosition)

getGainMotion

public float getGainMotion()

setGainMotion

public void setGainMotion(float gainMotion)

getMotionDecay

public float getMotionDecay()

setMotionDecay

public void setMotionDecay(float motionDecay)

getGainAngle

public float getGainAngle()

setGainAngle

public void setGainAngle(float gainAngle)

getGainBase

public float getGainBase()

setGainBase

public void setGainBase(float gainBase)

getOffsetAutomatic

public boolean getOffsetAutomatic()

setOffsetAutomatic

public void setOffsetAutomatic(boolean offsetAutomatic)

getOffsetX

public float getOffsetX()

setOffsetX

public void setOffsetX(float offsetX)

getOffsetY

public float getOffsetY()

setOffsetY

public void setOffsetY(float offsetY)

isConnectServo

public boolean isConnectServo()

setConnectServo

public void setConnectServo(boolean connectServoFlag)

isDisplayXEvents

public boolean isDisplayXEvents()

setDisplayXEvents

public void setDisplayXEvents(boolean displayXEvents)

isDisplayYEvents

public boolean isDisplayYEvents()

setDisplayYEvents

public void setDisplayYEvents(boolean displayYEvents)

isIgnoreTimestampOrdering

public boolean isIgnoreTimestampOrdering()

setIgnoreTimestampOrdering

public void setIgnoreTimestampOrdering(boolean ignoreTimestampOrdering)

isEnableLogging

public boolean isEnableLogging()

setEnableLogging

public void setEnableLogging(boolean enableLogging)

getComPortNumber

public int getComPortNumber()

setComPortNumber

public void setComPortNumber(int comPortNumber)