ch.unizh.ini.jaer.projects.rccar
Class HingeLineTracker

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.rccar.HingeLineTracker

All Implemented Interfaces:

HingeDetector, java.util.Observer, FrameAnnotater

public class HingeLineTracker
extends EventFilter2D
implements FrameAnnotater, java.util.Observer, HingeDetector

Author:

braendch The hingeLaneTracker tries to approximate a more or less vertical line by setting hinges at different heights The incomming events activate the AccumArray which contains row cells that subsample the vertical lines The row cell of a row gets the hinge if it fulfils some exception handling conditions As output the getPhi() and getX() methods can be used because the produce a weightend average of the phi and x values of a line approximation To make the algorithm more stable, already set hinges produce an attention which makes events wihin this attetion more excite the row cells

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

HingeLineTracker(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.
float	getAttentionDecayFactor()
float	getAttentionFactor()
float	getAttentionRadius()
int	getBottomHinge()
java.lang.Object	getFilterState() should return the filter state in some useful form
float	getHingeDecayFactor()
int	getHingeNumber()
float	getHingeThreshold()
PerspecTransform	getPerspec()
float	getPhi()
int	getShiftSpace()
int	getTopHinge()
float	getX()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isDrawOutput()
boolean	isShowRowWindow()
void	resetFilter() should reset the filter to initial state
void	setAttention(int x, int y)
void	setAttentionDecayFactor(float attentionDecayFactor)
void	setAttentionFactor(float attentionFactor)
void	setAttentionRadius(float attentionRadius)
void	setBottomHinge(int bottomHinge)
void	setDrawOutput(boolean drawOutput)
void	setHingeDecayFactor(float hingeDecayFactor)
void	setHingeNumber(int hingeNumber)
void	setHingeThreshold(float hingeThreshold)
void	setPerspec(PerspecTransform perspecTransform)
void	setShiftSpace(int shiftSpace)
void	setShowRowWindow(boolean showRowWindow)
void	setTopHinge(int topHinge)
void	update(java.util.Observable o, java.lang.Object arg)
void	updatePaoli()

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

HingeLineTracker

public HingeLineTracker(AEChip chip)

Method Detail

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

updatePaoli

public void updatePaoli()

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

setAttention

public void setAttention(int x,
                         int y)

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

isShowRowWindow

public boolean isShowRowWindow()

setShowRowWindow

public void setShowRowWindow(boolean showRowWindow)

update

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

Specified by:

update in interface java.util.Observer

getPhi

public float getPhi()

Specified by:

getPhi in interface HingeDetector

getX

public float getX()

Specified by:

getX in interface HingeDetector

getShiftSpace

public int getShiftSpace()

setShiftSpace

public void setShiftSpace(int shiftSpace)

getHingeThreshold

public float getHingeThreshold()

setHingeThreshold

public void setHingeThreshold(float hingeThreshold)

getBottomHinge

public int getBottomHinge()

setBottomHinge

public void setBottomHinge(int bottomHinge)

getTopHinge

public int getTopHinge()

setTopHinge

public void setTopHinge(int topHinge)

getHingeNumber

public int getHingeNumber()

setHingeNumber

public void setHingeNumber(int hingeNumber)

getAttentionRadius

public float getAttentionRadius()

setAttentionRadius

public void setAttentionRadius(float attentionRadius)

getHingeDecayFactor

public float getHingeDecayFactor()

setAttentionFactor

public void setAttentionFactor(float attentionFactor)

getAttentionFactor

public float getAttentionFactor()

setHingeDecayFactor

public void setHingeDecayFactor(float hingeDecayFactor)

getAttentionDecayFactor

public float getAttentionDecayFactor()

setAttentionDecayFactor

public void setAttentionDecayFactor(float attentionDecayFactor)

getPerspec

public PerspecTransform getPerspec()

setPerspec

public void setPerspec(PerspecTransform perspecTransform)

isDrawOutput

public boolean isDrawOutput()

setDrawOutput

public void setDrawOutput(boolean drawOutput)