ch.unizh.ini.jaer.projects.wingtracker
Class WingTracker

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.wingtracker.WingTracker

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

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

Tracks a fruit fly wing beat in two different ways, after a initialization phase. Begin with the method track, there the events are classified to the right edge and depending on the state the evaluation goes on. So there are different states in this "filter": initialization: data are recorded(a hardcoded number of events in the method track() with state = Init) and then an analysis is done for this data. First there is a 2-means algorithm(method kmeans) to localize the 2 wings. afterwards basic geometry is used to calculate the bodyposition and the heading of the fly. This is done in the method findFly(). Tracking: every event changes the actual position of the correspoinding wingedge with a lowpassfilter. This is done in the method track() with the state = TRACKING. Kalman: the second way to track is with a extended Kalman Filter. Every event is taken as an measurement for the filter. First in the method track the events is classified in left/right wing and leading/trailing edge. There are 4 instances of the inner class EKF which supports data for each wingedge. The prediction and update are methods of this inner class.

Nested Class Summary

class	WingTracker.EKF This class serves as datastructure for the Kalman Filter for all the wing-edges.
class	WingTracker.EKFParameterWindow

Field Summary

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

WingTracker(AEChip chip)

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) each annotator is called by the relevant class (e.g.
EventPacket	filterPacket(EventPacket in) Subclasses implement this method to define custom processing.
boolean	getdoBodyUpdate()
boolean	getdoHeadingUpdate()
boolean	getDoLog()
java.lang.Object	getFilterState() should return the filter state in some useful form
boolean	getFlipHeading()
float	getHysteresis()
float	getMixingFactor()
int	getNbEventsToCollectPerEdge()
float	getSearchRangeOffset()
boolean	getShowEKFParameterWindow()
boolean	getUseKalmanFiltering()
void	initFilter() Does nothing.
boolean	isGeneratingFilter()
void	resetFilter() should reset the filter to initial state
void	setdoBodyUpdate(boolean doBodyUpdate)
void	setdoHeadingUpdate(boolean doHeadingUpdate)
void	setDoLog(boolean doLog)
void	setFlipHeading(boolean flipHeading)
void	setHysteresis(float hysteresis)
void	setMixingFactor(float mixingFactor)
void	setNbEventsToCollectPerEdge(int nbEventsToCollectPerEdge)
void	setSearchRangeOffset(float searchRangeOffset)
void	setShowEKFParameterWindow(boolean showEKFParameterWindow)
void	setUseKalmanFiltering(boolean useKalmanFiltering)
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

WingTracker

public WingTracker(AEChip chip)

Method Detail

initFilter

public void initFilter()

Does nothing.

Specified by:

initFilter in class EventFilter

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

Returns:

The state of the tracker. The state is an element of an enumaration.

isGeneratingFilter

public boolean isGeneratingFilter()

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

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

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

setDoLog

public void setDoLog(boolean doLog)

getDoLog

public boolean getDoLog()

getMixingFactor

public float getMixingFactor()

setMixingFactor

public void setMixingFactor(float mixingFactor)

getHysteresis

public float getHysteresis()

setHysteresis

public void setHysteresis(float hysteresis)

getSearchRangeOffset

public float getSearchRangeOffset()

setSearchRangeOffset

public void setSearchRangeOffset(float searchRangeOffset)

setdoBodyUpdate

public void setdoBodyUpdate(boolean doBodyUpdate)

getdoBodyUpdate

public boolean getdoBodyUpdate()

setdoHeadingUpdate

public void setdoHeadingUpdate(boolean doHeadingUpdate)

getdoHeadingUpdate

public boolean getdoHeadingUpdate()

setUseKalmanFiltering

public void setUseKalmanFiltering(boolean useKalmanFiltering)

getUseKalmanFiltering

public boolean getUseKalmanFiltering()

getNbEventsToCollectPerEdge

public int getNbEventsToCollectPerEdge()

setNbEventsToCollectPerEdge

public void setNbEventsToCollectPerEdge(int nbEventsToCollectPerEdge)

setFlipHeading

public void setFlipHeading(boolean flipHeading)

getFlipHeading

public boolean getFlipHeading()

setShowEKFParameterWindow

public void setShowEKFParameterWindow(boolean showEKFParameterWindow)

getShowEKFParameterWindow

public boolean getShowEKFParameterWindow()