net.sf.jaer.eventprocessing.tracking
Class KalmanFilter

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

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

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

Nested Class Summary

class

KalmanFilter.ClusterData The data class for each Cluster.

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

KalmanFilter(AEChip chip, ClusterTracker clusterTracker)
Creates a new instance of KalmanFilter

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.
float	getBridgeHeight()
int	getDistTo1Px()
float	getDistToVanishingPoint()
boolean	getFeedbackToCluster()
java.lang.Object	getFilterState() should return the filter state in some useful form
boolean	getMapToRoad()
float	getMaxMeasurementVariance()
float	getMinProcessVariance()
int	getNbOfEventsTillTrack()
boolean	getUseDynamicVariances()
void	initFilter() Initialises the filter and geometry is recalculated
boolean	isGeneratingFilter()
void	resetFilter() should reset the filter to initial state
void	setBridgeHeight(float bridgeHeight)
void	setDistTo1Px(int distTo1Px)
void	setDistToVanishingPoint(float d)
void	setFeedbackToCluster(boolean feedbackToCluster)
void	setMapToRoad(boolean mapToRoad)
void	setMaxMeasurementVariance(float maxMeasurementVariance)
void	setMinProcessVariance(float minProcessVariance)
void	setNbOfEventsTillTrack(int nbOfEventsTillTrack)
void	setUseDynamicVariances(boolean useDynamicVariances)
java.lang.String	toString()
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, wait, wait, wait

Methods inherited from interface net.sf.jaer.graphics.FrameAnnotater

isAnnotationEnabled, setAnnotationEnabled

Constructor Detail

KalmanFilter

public KalmanFilter(AEChip chip,
                    ClusterTracker clusterTracker)

Creates a new instance of KalmanFilter

Method Detail

initFilter

public void initFilter()

Initialises the filter and geometry is recalculated

Specified by:

initFilter in class EventFilter

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

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

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

setDistToVanishingPoint

public void setDistToVanishingPoint(float d)

getDistToVanishingPoint

public float getDistToVanishingPoint()

getMapToRoad

public boolean getMapToRoad()

setMapToRoad

public void setMapToRoad(boolean mapToRoad)

getFeedbackToCluster

public boolean getFeedbackToCluster()

setFeedbackToCluster

public void setFeedbackToCluster(boolean feedbackToCluster)

getBridgeHeight

public float getBridgeHeight()

setBridgeHeight

public void setBridgeHeight(float bridgeHeight)

getMaxMeasurementVariance

public float getMaxMeasurementVariance()

setMaxMeasurementVariance

public void setMaxMeasurementVariance(float maxMeasurementVariance)

getMinProcessVariance

public float getMinProcessVariance()

setMinProcessVariance

public void setMinProcessVariance(float minProcessVariance)

getNbOfEventsTillTrack

public int getNbOfEventsTillTrack()

setNbOfEventsTillTrack

public void setNbOfEventsTillTrack(int nbOfEventsTillTrack)

getDistTo1Px

public int getDistTo1Px()

setDistTo1Px

public void setDistTo1Px(int distTo1Px)

setUseDynamicVariances

public void setUseDynamicVariances(boolean useDynamicVariances)

getUseDynamicVariances

public boolean getUseDynamicVariances()