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ch.unizh.ini.jaer.projects.tobi.billcatcher
Class BillCatcher

java.lang.Object
  extended by net.sf.jaer.eventprocessing.EventFilter
      extended by net.sf.jaer.eventprocessing.EventFilter2D
          extended by ch.unizh.ini.jaer.projects.tobi.billcatcher.BillCatcher
All Implemented Interfaces:
FrameAnnotater

public class BillCatcher
extends EventFilter2D
implements FrameAnnotater

Catches ppper money dropped between fingers. The game is that a person holds a bill and then releases it at a random moment. The catcher has his/her/its fingers ready to close on the bill. It is impossible for humans to do this task. This classes uses the silicon retina, cluster tracking, and the usb servo interface to build a robot to catch the bill.

Author:
tobi

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, perf, propertyTooltipMap, support
 
Constructor Summary
BillCatcher(AEChip chip)
          Creates a new instance of BillCatcher
 
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.
static java.lang.String getDescription()
           
 java.lang.Object getFilterState()
          should return the filter state in some useful form
 int getGrabLengthMs()
           
 float getMinkEPSToGrab()
           
 float getMotionThresholdPixelsPerSec()
           
 float getServoClosedValue()
           
 float getServoOpenValue()
           
 void initFilter()
          this should allocate and initialize memory: it may be called when the chip e.g.
 void resetFilter()
          should reset the filter to initial state
 void setGrabLengthMs(int grabLengthMs)
           
 void setMinkEPSToGrab(float minkEPSToGrab)
           
 void setMotionThresholdPixelsPerSec(float motionThresholdPixelsPerSec)
           
 void setServoClosedValue(float servoClosedValue)
           
 void setServoOpenValue(float servoOpenValue)
           
 
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, 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

BillCatcher

public BillCatcher(AEChip chip)
Creates a new instance of BillCatcher

Method Detail

getDescription

public static java.lang.String getDescription()

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

getMotionThresholdPixelsPerSec

public float getMotionThresholdPixelsPerSec()

setMotionThresholdPixelsPerSec

public void setMotionThresholdPixelsPerSec(float motionThresholdPixelsPerSec)

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

getGrabLengthMs

public int getGrabLengthMs()

setGrabLengthMs

public void setGrabLengthMs(int grabLengthMs)

getServoOpenValue

public float getServoOpenValue()

setServoOpenValue

public void setServoOpenValue(float servoOpenValue)

getServoClosedValue

public float getServoClosedValue()

setServoClosedValue

public void setServoClosedValue(float servoClosedValue)

getMinkEPSToGrab

public float getMinkEPSToGrab()

setMinkEPSToGrab

public void setMinkEPSToGrab(float minkEPSToGrab)

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