net.sf.jaer.eventprocessing.tracking
Class MultiLineClusterTracker

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

All Implemented Interfaces:

java.util.Observer, LineDetector, FrameAnnotater

public class MultiLineClusterTracker
extends EventFilter2D
implements FrameAnnotater, java.util.Observer, LineDetector

Tracks multiple lines in the scene using a cluster based method based on pairs of recent events. The event pairs come from a buffer formed from recent events. Each pair defines a line with polar and angle parameters. Lines are tracked using polar (rho) and angle (theta) parameters in a space of rho/theta, in analogy with the MultiLineClusterTracker tracking of rectangular objects in retinal coordinate space.

Author:

tobi

See Also:

LineDetector

Nested Class Summary

class

MultiLineClusterTracker.LineCluster Represents a single tracked line.

Field Summary

protected AEChip	chip
protected int	clusterCounter
protected static float	fullbrightnessLifetime
static float	MAX_SCALE_RATIO scaling can't make cluster bigger or smaller than this ratio to default cluster size
protected java.util.LinkedList<MultiLineClusterTracker.LineCluster>	pruneList

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

MultiLineClusterTracker(AEChip chip)
Creates a new instance of MultiLineClusterTracker

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.
int	getClusterLifetimeWithoutSupportUs() lifetime of cluster in ms without support
java.util.List<MultiLineClusterTracker.LineCluster>	getClusters() Returns list of all clusters, including those not "visible" yet.
static java.lang.String	getDescription()
int	getEventBufferLength()
java.lang.Object	getFilterState() should return the filter state in some useful form
int	getMaxNumClusters() max number of clusters
int	getMaxSegmentDt()
int	getMaxSegmentLength()
float	getMinDistanceNormalized()
int	getMinSegmentLength()
float	getMixingFactorLength()
float	getMixingFactorPosition()
float	getMixingFactorRho()
float	getMixingFactorTheta()
int	getNumClusters()
int	getOriDiffAllowed()
float	getRhoPixelsFiltered() returns the filtered Hough line radius estimate - the closest distance from the middle of the chip image.
float	getRhoRadius()
MultiLineClusterTracker.LineCluster	getStrongestCluster() returns cluster with maximum average event rate.
float	getTauMs()
float	getThetaDegFiltered() returns the filtered angle of the line cluster normal.
float	getThetaRadiusDeg()
int	getThresholdEventsForVisibleCluster() number of events to make a potential cluster visible
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isClusterLifetimeIncreasesWithAge()
boolean	isColorClustersDifferentlyEnabled()
boolean	isLengthEnabled()
boolean	isLogDataEnabled()
boolean	isRenderInputEvents()
boolean	isShowAllClusters()
boolean	isShowLineSegments()
boolean	isWeightLengthEnabled()
void	resetFilter() should reset the filter to initial state
void	setClusterLifetimeIncreasesWithAge(boolean clusterLifetimeIncreasesWithAge) If true, cluster lifetime withtout support increases proportional to the age of the cluster relative to the clusterLifetimeWithoutSupportUs time
void	setClusterLifetimeWithoutSupportUs(int clusterLifetimeWithoutSupport) lifetime of cluster in ms without support
void	setColorClustersDifferentlyEnabled(boolean colorClustersDifferentlyEnabled)
void	setEventBufferLength(int eventBufferLength) Sets tne number of events to consider for forming line segments for clustering
void	setLengthEnabled(boolean lengthEnabled)
void	setLogDataEnabled(boolean logDataEnabled)
void	setMaxNumClusters(int maxNumClusters) max number of clusters
void	setMaxSegmentDt(int maxSegmentDt)
void	setMaxSegmentLength(int maxSegmentLength)
void	setMinDistanceNormalized(float minDistanceNormalized)
void	setMinSegmentLength(int minSegmentLength)
void	setMixingFactorLength(float mixingFactorLength)
void	setMixingFactorPosition(float mixingFactorPosition)
void	setMixingFactorRho(float mixingFactor)
void	setMixingFactorTheta(float mixingFactor)
void	setOriDiffAllowed(int oriDiffAllowed)
void	setRenderInputEvents(boolean renderInputEvents)
void	setRhoRadius(float rhoRadius)
void	setShowAllClusters(boolean showAllClusters) Sets annotation visibility of clusters that are not "visible"
void	setShowLineSegments(boolean showLineSegments)
void	setTauMs(float tauMs)
void	setThetaRadiusDeg(float thetaRadius) Sets radius of LineClusters; argument is in degrees for user interface
void	setThresholdEventsForVisibleCluster(int thresholdEventsForVisibleCluster) number of events to make a potential cluster visible
void	setWeightLengthEnabled(boolean weightLengthEnabled)
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, 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

Field Detail

chip

protected AEChip chip

MAX_SCALE_RATIO

public static final float MAX_SCALE_RATIO

scaling can't make cluster bigger or smaller than this ratio to default cluster size

See Also:

Constant Field Values

pruneList

protected java.util.LinkedList<MultiLineClusterTracker.LineCluster> pruneList

clusterCounter

protected int clusterCounter

fullbrightnessLifetime

protected static final float fullbrightnessLifetime

See Also:

Constant Field Values

Constructor Detail

MultiLineClusterTracker

public MultiLineClusterTracker(AEChip chip)

Creates a new instance of MultiLineClusterTracker

Parameters:

chip - the chip we are tracking for

Method Detail

getDescription

public static java.lang.String getDescription()

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

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

getNumClusters

public int getNumClusters()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getClusters

public java.util.List<MultiLineClusterTracker.LineCluster> getClusters()

Returns list of all clusters, including those not "visible" yet.

Returns:

List of LineCluster

getStrongestCluster

public MultiLineClusterTracker.LineCluster getStrongestCluster()

returns cluster with maximum average event rate. Thread safe.

Returns:

strongest supported cluster in events

getClusterLifetimeWithoutSupportUs

public final int getClusterLifetimeWithoutSupportUs()

lifetime of cluster in ms without support

setClusterLifetimeWithoutSupportUs

public void setClusterLifetimeWithoutSupportUs(int clusterLifetimeWithoutSupport)

lifetime of cluster in ms without support

getMaxNumClusters

public final int getMaxNumClusters()

max number of clusters

setMaxNumClusters

public void setMaxNumClusters(int maxNumClusters)

max number of clusters

getThresholdEventsForVisibleCluster

public final int getThresholdEventsForVisibleCluster()

number of events to make a potential cluster visible

setThresholdEventsForVisibleCluster

public void setThresholdEventsForVisibleCluster(int thresholdEventsForVisibleCluster)

number of events to make a potential cluster visible

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

getMixingFactorRho

public float getMixingFactorRho()

setMixingFactorRho

public void setMixingFactorRho(float mixingFactor)

getMixingFactorTheta

public float getMixingFactorTheta()

setMixingFactorTheta

public void setMixingFactorTheta(float mixingFactor)

isColorClustersDifferentlyEnabled

public boolean isColorClustersDifferentlyEnabled()

See Also:

setColorClustersDifferentlyEnabled(boolean)

setColorClustersDifferentlyEnabled

public void setColorClustersDifferentlyEnabled(boolean colorClustersDifferentlyEnabled)

Parameters:

colorClustersDifferentlyEnabled - true to color each cluster a different color. false to color each cluster by its age

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(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(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

isLogDataEnabled

public boolean isLogDataEnabled()

setLogDataEnabled

public void setLogDataEnabled(boolean logDataEnabled)

isShowAllClusters

public boolean isShowAllClusters()

setShowAllClusters

public void setShowAllClusters(boolean showAllClusters)

Sets annotation visibility of clusters that are not "visible"

Parameters:

showAllClusters - true to show all clusters even if there are not "visible"

isClusterLifetimeIncreasesWithAge

public boolean isClusterLifetimeIncreasesWithAge()

setClusterLifetimeIncreasesWithAge

public void setClusterLifetimeIncreasesWithAge(boolean clusterLifetimeIncreasesWithAge)

If true, cluster lifetime withtout support increases proportional to the age of the cluster relative to the clusterLifetimeWithoutSupportUs time

getEventBufferLength

public int getEventBufferLength()

setEventBufferLength

public void setEventBufferLength(int eventBufferLength)

Sets tne number of events to consider for forming line segments for clustering

Parameters:

eventBufferLength - the length of the buffer in events

getRhoRadius

public float getRhoRadius()

setRhoRadius

public void setRhoRadius(float rhoRadius)

getThetaRadiusDeg

public float getThetaRadiusDeg()

setThetaRadiusDeg

public void setThetaRadiusDeg(float thetaRadius)

Sets radius of LineClusters; argument is in degrees for user interface

getMinSegmentLength

public int getMinSegmentLength()

setMinSegmentLength

public void setMinSegmentLength(int minSegmentLength)

getMaxSegmentLength

public int getMaxSegmentLength()

setMaxSegmentLength

public void setMaxSegmentLength(int maxSegmentLength)

getMaxSegmentDt

public int getMaxSegmentDt()

setMaxSegmentDt

public void setMaxSegmentDt(int maxSegmentDt)

getMixingFactorPosition

public float getMixingFactorPosition()

setMixingFactorPosition

public void setMixingFactorPosition(float mixingFactorPosition)

isShowLineSegments

public boolean isShowLineSegments()

setShowLineSegments

public void setShowLineSegments(boolean showLineSegments)

getMinDistanceNormalized

public float getMinDistanceNormalized()

setMinDistanceNormalized

public void setMinDistanceNormalized(float minDistanceNormalized)

getMixingFactorLength

public float getMixingFactorLength()

setMixingFactorLength

public void setMixingFactorLength(float mixingFactorLength)

isLengthEnabled

public boolean isLengthEnabled()

setLengthEnabled

public void setLengthEnabled(boolean lengthEnabled)

isWeightLengthEnabled

public boolean isWeightLengthEnabled()

setWeightLengthEnabled

public void setWeightLengthEnabled(boolean weightLengthEnabled)

isRenderInputEvents

public boolean isRenderInputEvents()

setRenderInputEvents

public void setRenderInputEvents(boolean renderInputEvents)

getRhoPixelsFiltered

public float getRhoPixelsFiltered()

returns the filtered Hough line radius estimate - the closest distance from the middle of the chip image.

Specified by:

getRhoPixelsFiltered in interface LineDetector

Returns:

the distance in pixels. If the chip size is sx by sy, can range over +-Math.sqrt( (sx/2)^2 + (sy/2)^2). This number is positive if the line is above the origin (center of chip)

getThetaDegFiltered

public float getThetaDegFiltered()

returns the filtered angle of the line cluster normal.

Specified by:

getThetaDegFiltered in interface LineDetector

Returns:

angle in degrees. Ranges from -180 to 180 degrees, where -180 and 180 represent a vertical line (horizontal line normal) and 90 and -90 is a horizontal line (??? not consistent with LineDetector interface definition!!! - should fix) TO-DO

getTauMs

public float getTauMs()

setTauMs

public void setTauMs(float tauMs)

getOriDiffAllowed

public int getOriDiffAllowed()

setOriDiffAllowed

public void setOriDiffAllowed(int oriDiffAllowed)