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

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

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

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

Author:

chbraen The PerspeTransform is a transformation filter that accounts for two kinds of distortion: -The perspective distortion is corrected by a linear horizontal squeezing (if ratio = 1 --> no correction) -The lens distortion is corrected by a firt order radial correction (if k1 = 0 --> no correction) To transformation information is stored in look up matrices which redirect the events Additionally the filter cuts of all events above the horizon which is approximated by a hyperbole

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

PerspecTransform(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.
java.lang.Object	getFilterState() should return the filter state in some useful form
int	getHorizon()
float	getHorizonFactor()
float	getK1()
OrientationCluster	getOrientationCluster()
float	getRatio()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isGeneratingFilter()
boolean	isLensEnabled()
void	resetFilter() should reset the filter to initial state
void	setHorizon(int horizon)
void	setHorizonFactor(float horizonFactor)
void	setK1(float k1)
void	setLensEnabled(boolean lensEnabled)
void	setOrientationCluster(OrientationCluster orientationCluster)
void	setRatio(float ratio)
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

PerspecTransform

public PerspecTransform(AEChip chip)

Method Detail

isGeneratingFilter

public boolean isGeneratingFilter()

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

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

getHorizon

public int getHorizon()

setHorizon

public void setHorizon(int horizon)

getRatio

public float getRatio()

setRatio

public void setRatio(float ratio)

getHorizonFactor

public float getHorizonFactor()

setHorizonFactor

public void setHorizonFactor(float horizonFactor)

isLensEnabled

public boolean isLensEnabled()

setLensEnabled

public void setLensEnabled(boolean lensEnabled)

getK1

public float getK1()

setK1

public void setK1(float k1)

getOrientationCluster

public OrientationCluster getOrientationCluster()

setOrientationCluster

public void setOrientationCluster(OrientationCluster orientationCluster)

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

update

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

Specified by:

update in interface java.util.Observer