net.sf.jaer.eventprocessing.tracking
Class RectangularClusterTracker

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

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

Direct Known Subclasses:

StereoClusterTracker

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

Tracks blobs of events using a rectangular hypothesis about the object shape. Many parameters constrain the hypothesese in various ways, including perspective projection, fixed aspect ratio, variable size and aspect ratio, "mixing factor" that determines how much each event moves a cluster, etc.

Author:

tobi

Nested Class Summary

class

RectangularClusterTracker.Cluster

Field Summary

static float	ASPECT_RATIO_MAX maximum and minimum allowed dynamic aspect ratio
static float	ASPECT_RATIO_MIN maximum and minimum allowed dynamic aspect ratio
protected AEChip	chip
protected int	clusterCounter
protected float	defaultClusterRadius
protected static float	fullbrightnessLifetime
protected boolean	growMergedSizeEnabled
static float	MAX_SCALE_RATIO scaling can't make cluster bigger or smaller than this ratio to default cluster size
protected float	mixingFactor
protected java.util.LinkedList<RectangularClusterTracker.Cluster>	pruneList
protected java.util.Random	random

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

RectangularClusterTracker(AEChip chip)
Creates a new instance of RectangularClusterTracker

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.
protected void	drawBox(javax.media.opengl.GL gl, int x, int y, int sx, int sy, float angle)
EventPacket	filterPacket(EventPacket in) Subclasses implement this method to define custom processing.
float	getAspectRatio()
float	getClassifierThreshold()
int	getClusterLifetimeWithoutSupportUs() lifetime of cluster in ms without support
java.util.List<RectangularClusterTracker.Cluster>	getClusters()
float	getClusterSize() max distance from cluster to event as fraction of size of array
static java.lang.String	getDescription()
boolean	getDynamicSizeEnabled()
java.lang.Object	getFilterState() should return the filter state in some useful form
int	getMaxNumClusters() max number of clusters
float	getMixingFactor()
int	getNumClusters()
float	getOpticalGyroTauLowpassMs()
int	getPathLength()
int	getPredictiveVelocityFactor()
float	getSurround()
int	getThresholdEventsForVisibleCluster() number of events to make a potential cluster visible
float	getThresholdVelocityForVisibleCluster()
int	getVelocityPoints()
void	initFilter() this should allocate and initialize memory: it may be called when the chip e.g.
boolean	isClassifierEnabled()
boolean	isClusterLifetimeIncreasesWithAge()
boolean	isColorClustersDifferentlyEnabled()
boolean	isDynamicAngleEnabled()
boolean	isDynamicAspectRatioEnabled()
boolean	isGrowMergedSizeEnabled()
boolean	isHighwayPerspectiveEnabled()
boolean	isLogDataEnabled()
boolean	isOpticalGyroEnabled() Get the value of opticalGyroEnabled
boolean	isPathsEnabled()
boolean	isShowAllClusters()
boolean	isUseNearestCluster()
boolean	isUseOffPolarityOnlyEnabled()
boolean	isUseOnePolarityOnlyEnabled()
boolean	isUseVelocity()
void	resetFilter() should reset the filter to initial state
void	setAspectRatio(float aspectRatio)
void	setClassifierEnabled(boolean classifierEnabled) Sets whether classifier is enabled.
void	setClassifierThreshold(float classifierThreshold)
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	setClusterSize(float clusterSize) sets max distance from cluster center to event as fraction of maximum size of chip pixel array.
void	setColorClustersDifferentlyEnabled(boolean colorClustersDifferentlyEnabled)
void	setDynamicAngleEnabled(boolean dynamicAngleEnabled) Setting dynamicAngleEnabled true enables variable-angle clusters.
void	setDynamicAspectRatioEnabled(boolean dynamicAspectRatioEnabled)
void	setDynamicSizeEnabled(boolean dynamicSizeEnabled) Enables cluster size scaling.
void	setGrowMergedSizeEnabled(boolean growMergedSizeEnabled)
void	setHighwayPerspectiveEnabled(boolean highwayPerspectiveEnabled)
void	setLogDataEnabled(boolean logDataEnabled)
void	setMaxNumClusters(int maxNumClusters) max number of clusters
void	setMixingFactor(float mixingFactor)
void	setOpticalGyroEnabled(boolean opticalGyroEnabled) Set the value of opticalGyroEnabled
void	setOpticalGyroTauLowpassMs(float opticalGyroTauLowpassMs)
void	setPathLength(int pathLength)
void	setPathsEnabled(boolean pathsEnabled)
void	setPredictiveVelocityFactor(int predictiveVelocityFactor)
void	setShowAllClusters(boolean showAllClusters) Sets annotation visibility of clusters that are not "visible"
void	setSurround(float surround) sets scale factor of radius that events outside the cluster size can affect the size of the cluster if scaling is enabled.
void	setThresholdEventsForVisibleCluster(int thresholdEventsForVisibleCluster) number of events to make a potential cluster visible
void	setThresholdVelocityForVisibleCluster(float thresholdVelocityForVisibleCluster) A cluster must have at least this velocity magnitude to become visible
void	setUseNearestCluster(boolean useNearestCluster)
void	setUseOffPolarityOnlyEnabled(boolean useOffPolarityOnlyEnabled)
void	setUseOnePolarityOnlyEnabled(boolean useOnePolarityOnlyEnabled)
void	setUseVelocity(boolean useVelocity)
void	setVelocityPoints(int velocityPoints)
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

ASPECT_RATIO_MAX

public static final float ASPECT_RATIO_MAX

maximum and minimum allowed dynamic aspect ratio

See Also:

Constant Field Values

ASPECT_RATIO_MIN

public static final float ASPECT_RATIO_MIN

maximum and minimum allowed dynamic aspect ratio

See Also:

Constant Field Values

defaultClusterRadius

protected float defaultClusterRadius

mixingFactor

protected float mixingFactor

growMergedSizeEnabled

protected boolean growMergedSizeEnabled

pruneList

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

clusterCounter

protected int clusterCounter

fullbrightnessLifetime

protected static final float fullbrightnessLifetime

See Also:

Constant Field Values

random

protected java.util.Random random

Constructor Detail

RectangularClusterTracker

public RectangularClusterTracker(AEChip chip)

Creates a new instance of RectangularClusterTracker

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

getNumClusters

public int getNumClusters()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

getOpticalGyroTauLowpassMs

public float getOpticalGyroTauLowpassMs()

Returns:

the opticalGyroTauLowpassMs

setOpticalGyroTauLowpassMs

public void setOpticalGyroTauLowpassMs(float opticalGyroTauLowpassMs)

Parameters:

opticalGyroTauLowpassMs - the opticalGyroTauLowpassMs to set

getClusters

public java.util.List<RectangularClusterTracker.Cluster> getClusters()

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

getClusterSize

public final float getClusterSize()

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

setClusterSize

public void setClusterSize(float clusterSize)

sets max distance from cluster center to event as fraction of maximum size of chip pixel array. e.g. clusterSize=0.5 and 128x64 array means cluster has radius of 0.5*128=64 pixels.

Parameters:

clusterSize -

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

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

isHighwayPerspectiveEnabled

public boolean isHighwayPerspectiveEnabled()

setHighwayPerspectiveEnabled

public void setHighwayPerspectiveEnabled(boolean highwayPerspectiveEnabled)

getMixingFactor

public float getMixingFactor()

setMixingFactor

public void setMixingFactor(float mixingFactor)

getSurround

public float getSurround()

See Also:

setSurround(float)

setSurround

public void setSurround(float surround)

sets scale factor of radius that events outside the cluster size can affect the size of the cluster if scaling is enabled.

Parameters:

surround - the scale factor, constrained >1 by setter. radius is multiplied by this to determine if event is within surround.

isPathsEnabled

public boolean isPathsEnabled()

See Also:

setPathsEnabled(boolean)

setPathsEnabled

public void setPathsEnabled(boolean pathsEnabled)

Parameters:

pathsEnabled - true to show the history of the cluster locations on each packet

getDynamicSizeEnabled

public boolean getDynamicSizeEnabled()

See Also:

setDynamicSizeEnabled(boolean)

setDynamicSizeEnabled

public void setDynamicSizeEnabled(boolean dynamicSizeEnabled)

Enables cluster size scaling. The clusters are dynamically resized by the distances of the events from the cluster center. If most events are far from the cluster then the cluster size is increased, but if most events are close to the cluster center than the cluster size is decreased. The size change for each event comes from mixing the old size with a the event distance from the center using the mixing factor.

Parameters:

dynamicSizeEnabled - true to enable scaling of cluster size

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

isUseOnePolarityOnlyEnabled

public boolean isUseOnePolarityOnlyEnabled()

setUseOnePolarityOnlyEnabled

public void setUseOnePolarityOnlyEnabled(boolean useOnePolarityOnlyEnabled)

isUseOffPolarityOnlyEnabled

public boolean isUseOffPolarityOnlyEnabled()

setUseOffPolarityOnlyEnabled

public void setUseOffPolarityOnlyEnabled(boolean useOffPolarityOnlyEnabled)

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

drawBox

protected void drawBox(javax.media.opengl.GL gl,
                       int x,
                       int y,
                       int sx,
                       int sy,
                       float angle)

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

isGrowMergedSizeEnabled

public boolean isGrowMergedSizeEnabled()

setGrowMergedSizeEnabled

public void setGrowMergedSizeEnabled(boolean growMergedSizeEnabled)

setUseVelocity

public void setUseVelocity(boolean useVelocity)

isUseVelocity

public boolean isUseVelocity()

isLogDataEnabled

public boolean isLogDataEnabled()

setLogDataEnabled

public void setLogDataEnabled(boolean logDataEnabled)

getAspectRatio

public float getAspectRatio()

setAspectRatio

public void setAspectRatio(float aspectRatio)

isClassifierEnabled

public boolean isClassifierEnabled()

setClassifierEnabled

public void setClassifierEnabled(boolean classifierEnabled)

Sets whether classifier is enabled.

Parameters:

classifierEnabled - true to enable classifier

getClassifierThreshold

public float getClassifierThreshold()

setClassifierThreshold

public void setClassifierThreshold(float classifierThreshold)

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"

isDynamicAspectRatioEnabled

public boolean isDynamicAspectRatioEnabled()

setDynamicAspectRatioEnabled

public void setDynamicAspectRatioEnabled(boolean dynamicAspectRatioEnabled)

isUseNearestCluster

public boolean isUseNearestCluster()

setUseNearestCluster

public void setUseNearestCluster(boolean useNearestCluster)

getPredictiveVelocityFactor

public int getPredictiveVelocityFactor()

setPredictiveVelocityFactor

public void setPredictiveVelocityFactor(int predictiveVelocityFactor)

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

getThresholdVelocityForVisibleCluster

public float getThresholdVelocityForVisibleCluster()

setThresholdVelocityForVisibleCluster

public void setThresholdVelocityForVisibleCluster(float thresholdVelocityForVisibleCluster)

A cluster must have at least this velocity magnitude to become visible

Parameters:

thresholdVelocityForVisibleCluster - speed in pixels/second

isOpticalGyroEnabled

public boolean isOpticalGyroEnabled()

Get the value of opticalGyroEnabled

Returns:

the value of opticalGyroEnabled

setOpticalGyroEnabled

public void setOpticalGyroEnabled(boolean opticalGyroEnabled)

Set the value of opticalGyroEnabled

Parameters:

opticalGyroEnabled - new value of opticalGyroEnabled

getPathLength

public int getPathLength()

setPathLength

public void setPathLength(int pathLength)

isDynamicAngleEnabled

public boolean isDynamicAngleEnabled()

setDynamicAngleEnabled

public void setDynamicAngleEnabled(boolean dynamicAngleEnabled)

Setting dynamicAngleEnabled true enables variable-angle clusters.

getVelocityPoints

public int getVelocityPoints()

setVelocityPoints

public void setVelocityPoints(int velocityPoints)