net.sf.jaer.eventprocessing.tracking
Class ClusterTracker

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          net.sf.jaer.eventprocessing.tracking.ClusterTracker

All Implemented Interfaces:

java.util.EventListener, java.util.Observer, java.util.prefs.PreferenceChangeListener, FrameAnnotater

Deprecated. This class is no longer maintained. Use RectanglularClusterTracker instead.

public class ClusterTracker
extends EventFilter2D
implements FrameAnnotater, java.util.Observer, java.util.prefs.PreferenceChangeListener

Tracks blobs of events. Based (probably very loosely) on conversation with Martin Litzenberger.

The ClusterTracker starts with no clusters. When called with AEPacket2D of events, assigns the first cluster to the median event location, based on MedianTracker notion of median event location, iff the location std dev is not too large. Then every subsequent event that is processed is either assigned to an existing cluster (if the event location is close enough to the cluster center) or a new cluster is generated. A cluster remains until its support fades away, meaning that it lacks support compared with other clusters. Initially, there will be just random clusters corresponding to noise events, but these will quickly be pruned away because they will lack support compared with real clusters, which will have continued support.

Clusters also have persistence: if a cluster has sustained support, then it keeps itself alive according to this support. The implicit (past) support is a quantity that is charged up by support and fades away over time without support. Thus a cluster can survive even when it gets no support for a time. This mechanism keeps clusters from objects that move and then momentarily stop.

Author:

tobi

Nested Class Summary

class	ClusterTracker.ClosestCluster Deprecated. Represents a cluster and a distance (the distance of an event to the cluster)
class	ClusterTracker.Cluster Deprecated. Represents a single tracked object

Field Summary

protected float	aspectRatio Deprecated.
protected AEChip	chip Deprecated.
protected int	clusterCounter Deprecated.
protected java.util.ArrayList<ClusterTracker.Cluster>	clusters Deprecated.
protected float	clusterSize Deprecated.
protected boolean	colorClustersDifferentlyEnabled Deprecated.
protected float	defaultClusterRadius Deprecated.
protected static float	fullbrightnessLifetime Deprecated.
protected boolean	growMergedSizeEnabled Deprecated.
protected float	mixingFactor Deprecated.
protected boolean	pathsEnabled Deprecated.
protected java.util.LinkedList<ClusterTracker.Cluster>	pruneList Deprecated.
protected java.util.Random	random Deprecated.
protected boolean	scaleEnabled Deprecated.
protected float	surround Deprecated.
protected boolean	useOffPolarityOnlyEnabled Deprecated.
protected boolean	useOnePolarityOnlyEnabled Deprecated.
protected float	velocityMixingFactor Deprecated.

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

ClusterTracker(AEChip chip)
Deprecated. Creates a new instance of ClusterTracker

Method Summary

void	annotate(float[][][] frame) Deprecated. annotate the rendered retina frame to show locations of clusters
void	annotate(javax.media.opengl.GLAutoDrawable drawable) Deprecated. 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) Deprecated. each annotator is called by the relevant class (e.g.
ClusterTracker.ClosestCluster	closestCluster(BasicEvent event) Deprecated. method that given AE, returns closest cluster and distance to it.
EventPacket	filterPacket(EventPacket in) Deprecated. Subclasses implement this method to define custom processing.
int	getClusterLifetimeWithoutSupport() Deprecated. lifetime of cluster in ms without support
java.util.ArrayList<ClusterTracker.Cluster>	getClusters() Deprecated.
float	getClusterSize() Deprecated. max distance from cluster to event as fraction of size of array
java.lang.Object	getFilterState() Deprecated. should return the filter state in some useful form
ClusterTracker.ClosestCluster	getFirstContainingCluster(BasicEvent event) Deprecated. Given AE, returns first cluster that event is within
int	getMaxNumClusters() Deprecated. max number of clusters
float	getMixingFactor() Deprecated.
int	getNumClusters() Deprecated.
java.util.LinkedList<ClusterTracker.Cluster>	getPruneList() Deprecated.
boolean	getScaleEnabled() Deprecated.
float	getSurround() Deprecated.
int	getThresholdEventsForVisibleCluster() Deprecated. number of events to make a potential cluster visible
float	getVelocityMixingFactor() Deprecated.
void	initFilter() Deprecated. this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isColorClustersDifferentlyEnabled() Deprecated.
boolean	isGeneratingFilter() Deprecated.
boolean	isGrowMergedSizeEnabled() Deprecated.
boolean	isHighwayPerspectiveEnabled() Deprecated.
boolean	isLogDataEnabled() Deprecated.
boolean	isPathsEnabled() Deprecated.
boolean	isShowVelocity() Deprecated.
boolean	isUseOffPolarityOnlyEnabled() Deprecated.
boolean	isUseOnePolarityOnlyEnabled() Deprecated.
void	preferenceChange(java.util.prefs.PreferenceChangeEvent evt) Deprecated.
void	resetFilter() Deprecated. should reset the filter to initial state
void	setClusterLifetimeWithoutSupport(int clusterLifetimeWithoutSupport) Deprecated. lifetime of cluster in ms without support
void	setClusterSize(float clusterSize) Deprecated. sets max distance from cluster to event as fraction of size of array
void	setColorClustersDifferentlyEnabled(boolean colorClustersDifferentlyEnabled) Deprecated.
void	setGrowMergedSizeEnabled(boolean growMergedSizeEnabled) Deprecated.
void	setHighwayPerspectiveEnabled(boolean highwayPerspectiveEnabled) Deprecated.
void	setLogDataEnabled(boolean logDataEnabled) Deprecated.
void	setMaxNumClusters(int maxNumClusters) Deprecated. max number of clusters
void	setMixingFactor(float mixingFactor) Deprecated.
void	setPathsEnabled(boolean pathsEnabled) Deprecated.
void	setScaleEnabled(boolean scaleEnabled) Deprecated.
void	setShowVelocity(boolean showVelocity) Deprecated.
void	setSurround(float surround) Deprecated.
void	setThresholdEventsForVisibleCluster(int thresholdEventsForVisibleCluster) Deprecated. number of events to make a potential cluster visible
void	setUseOffPolarityOnlyEnabled(boolean useOffPolarityOnlyEnabled) Deprecated.
void	setUseOnePolarityOnlyEnabled(boolean useOnePolarityOnlyEnabled) Deprecated.
void	setVelocityMixingFactor(float velocityMixingFactor) Deprecated.
void	update(java.util.Observable o, java.lang.Object arg) Deprecated.

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

Field Detail

clusters

protected java.util.ArrayList<ClusterTracker.Cluster> clusters

Deprecated.

chip

protected AEChip chip

Deprecated.

defaultClusterRadius

protected float defaultClusterRadius

Deprecated.

mixingFactor

protected float mixingFactor

Deprecated.

velocityMixingFactor

protected float velocityMixingFactor

Deprecated.

surround

protected float surround

Deprecated.

scaleEnabled

protected boolean scaleEnabled

Deprecated.

pathsEnabled

protected boolean pathsEnabled

Deprecated.

colorClustersDifferentlyEnabled

protected boolean colorClustersDifferentlyEnabled

Deprecated.

useOnePolarityOnlyEnabled

protected boolean useOnePolarityOnlyEnabled

Deprecated.

useOffPolarityOnlyEnabled

protected boolean useOffPolarityOnlyEnabled

Deprecated.

aspectRatio

protected float aspectRatio

Deprecated.

clusterSize

protected float clusterSize

Deprecated.

growMergedSizeEnabled

protected boolean growMergedSizeEnabled

Deprecated.

pruneList

protected java.util.LinkedList<ClusterTracker.Cluster> pruneList

Deprecated.

clusterCounter

protected int clusterCounter

Deprecated.

fullbrightnessLifetime

protected static final float fullbrightnessLifetime

Deprecated.

See Also:

Constant Field Values

random

protected java.util.Random random

Deprecated.

Constructor Detail

ClusterTracker

public ClusterTracker(AEChip chip)

Deprecated.

Creates a new instance of ClusterTracker

Method Detail

initFilter

public void initFilter()

Deprecated.

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

getNumClusters

public int getNumClusters()

Deprecated.

closestCluster

public ClusterTracker.ClosestCluster closestCluster(BasicEvent event)

Deprecated.

method that given AE, returns closest cluster and distance to it. The actual computation returns the first cluster that is within the minDistance of the event, which reduces the computation at the cost of reduced precision.

Parameters:

event - the event

Returns:

closest cluster

getFirstContainingCluster

public ClusterTracker.ClosestCluster getFirstContainingCluster(BasicEvent event)

Deprecated.

Given AE, returns first cluster that event is within

Parameters:

event - the event

Returns:

cluster that contains event within the cluster's radius

getClusters

public java.util.ArrayList<ClusterTracker.Cluster> getClusters()

Deprecated.

getPruneList

public java.util.LinkedList<ClusterTracker.Cluster> getPruneList()

Deprecated.

getClusterLifetimeWithoutSupport

public final int getClusterLifetimeWithoutSupport()

Deprecated.

lifetime of cluster in ms without support

setClusterLifetimeWithoutSupport

public void setClusterLifetimeWithoutSupport(int clusterLifetimeWithoutSupport)

Deprecated.

lifetime of cluster in ms without support

getClusterSize

public final float getClusterSize()

Deprecated.

max distance from cluster to event as fraction of size of array

setClusterSize

public void setClusterSize(float clusterSize)

Deprecated.

sets max distance from cluster to event as fraction of size of array

getMaxNumClusters

public final int getMaxNumClusters()

Deprecated.

max number of clusters

setMaxNumClusters

public void setMaxNumClusters(int maxNumClusters)

Deprecated.

max number of clusters

getThresholdEventsForVisibleCluster

public final int getThresholdEventsForVisibleCluster()

Deprecated.

number of events to make a potential cluster visible

setThresholdEventsForVisibleCluster

public void setThresholdEventsForVisibleCluster(int thresholdEventsForVisibleCluster)

Deprecated.

number of events to make a potential cluster visible

getFilterState

public java.lang.Object getFilterState()

Deprecated.

Description copied from class: EventFilter

should return the filter state in some useful form

Specified by:

getFilterState in class EventFilter

isGeneratingFilter

public boolean isGeneratingFilter()

Deprecated.

resetFilter

public void resetFilter()

Deprecated.

Description copied from class: EventFilter

should reset the filter to initial state

Specified by:

resetFilter in class EventFilter

filterPacket

public EventPacket filterPacket(EventPacket in)

Deprecated.

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

isHighwayPerspectiveEnabled

public boolean isHighwayPerspectiveEnabled()

Deprecated.

setHighwayPerspectiveEnabled

public void setHighwayPerspectiveEnabled(boolean highwayPerspectiveEnabled)

Deprecated.

getMixingFactor

public float getMixingFactor()

Deprecated.

setMixingFactor

public void setMixingFactor(float mixingFactor)

Deprecated.

getSurround

public float getSurround()

Deprecated.

setSurround

public void setSurround(float surround)

Deprecated.

isPathsEnabled

public boolean isPathsEnabled()

Deprecated.

setPathsEnabled

public void setPathsEnabled(boolean pathsEnabled)

Deprecated.

getScaleEnabled

public boolean getScaleEnabled()

Deprecated.

setScaleEnabled

public void setScaleEnabled(boolean scaleEnabled)

Deprecated.

isColorClustersDifferentlyEnabled

public boolean isColorClustersDifferentlyEnabled()

Deprecated.

setColorClustersDifferentlyEnabled

public void setColorClustersDifferentlyEnabled(boolean colorClustersDifferentlyEnabled)

Deprecated.

update

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

Deprecated.

Specified by:

update in interface java.util.Observer

isUseOnePolarityOnlyEnabled

public boolean isUseOnePolarityOnlyEnabled()

Deprecated.

setUseOnePolarityOnlyEnabled

public void setUseOnePolarityOnlyEnabled(boolean useOnePolarityOnlyEnabled)

Deprecated.

isUseOffPolarityOnlyEnabled

public boolean isUseOffPolarityOnlyEnabled()

Deprecated.

setUseOffPolarityOnlyEnabled

public void setUseOffPolarityOnlyEnabled(boolean useOffPolarityOnlyEnabled)

Deprecated.

annotate

public void annotate(java.awt.Graphics2D g)

Deprecated.

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)

Deprecated.

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)

Deprecated.

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

preferenceChange

public void preferenceChange(java.util.prefs.PreferenceChangeEvent evt)

Deprecated.

Specified by:

preferenceChange in interface java.util.prefs.PreferenceChangeListener

isGrowMergedSizeEnabled

public boolean isGrowMergedSizeEnabled()

Deprecated.

setGrowMergedSizeEnabled

public void setGrowMergedSizeEnabled(boolean growMergedSizeEnabled)

Deprecated.

getVelocityMixingFactor

public float getVelocityMixingFactor()

Deprecated.

setVelocityMixingFactor

public void setVelocityMixingFactor(float velocityMixingFactor)

Deprecated.

setShowVelocity

public void setShowVelocity(boolean showVelocity)

Deprecated.

isShowVelocity

public boolean isShowVelocity()

Deprecated.

isLogDataEnabled

public boolean isLogDataEnabled()

Deprecated.

setLogDataEnabled

public void setLogDataEnabled(boolean logDataEnabled)

Deprecated.