net.sf.jaer.stereopsis
Class StereoClusterTracker.StereoCluster

java.lang.Object
  net.sf.jaer.eventprocessing.tracking.RectangularClusterTracker.Cluster
      net.sf.jaer.stereopsis.StereoClusterTracker.StereoCluster

Enclosing class:

StereoClusterTracker

public class StereoClusterTracker.StereoCluster
extends RectangularClusterTracker.Cluster

Extends the 2-d cluster to include 2.5-d disparity information. Adding an event updates the cluster's disparity value. The events added from left and right eye can have different x,y locations depending on misalignment and disparity. The cluster, however, has a single location in x,y,disparity space. When an event is added, the cluster disparity value is taken account of for determining the distance of the event to the cluster.

Nested Class Summary

class

StereoClusterTracker.StereoCluster.Point3d x,y,z triplet for representing 3d spatial location of cluster.

Nested classes/interfaces inherited from class net.sf.jaer.eventprocessing.tracking.RectangularClusterTracker.Cluster

RectangularClusterTracker.Cluster.PathPoint

Field Summary

StereoClusterTracker.StereoCluster.Point3d	location3dm location of cluster in 3d space as computed from pixel location and disparity, given chip's StereoGeometry.
StereoClusterTracker.StereoCluster.Point3d	velocity3dmps velocity of cluster in 3d space as computed from pixel location and disparity, given chip's StereoGeometry.

Fields inherited from class net.sf.jaer.eventprocessing.tracking.RectangularClusterTracker.Cluster

color, distanceToLastEvent, firstTimestamp, instantaneousEventRate, instantaneousISI, lastTimestamp, location, numEvents, path, previousNumEvents, velocity

Constructor Summary

StereoClusterTracker.StereoCluster()

StereoClusterTracker.StereoCluster(BasicEvent ev)
Constructs a new cluster centered on an event

StereoClusterTracker.StereoCluster(StereoClusterTracker.StereoCluster one, StereoClusterTracker.StereoCluster two)
Constructs a cluster by merging two clusters

Method Summary

void	addEvent(BasicEvent event) adds one BasicEvent event to this cluster, updating its parameters in the process
void	addEvent(BinocularEvent event) adds one BinocularEvent to this cluster, updating its parameters in the process
float	distanceTo(BasicEvent event) Computes ditance of cluster to event
protected float	distanceTo(StereoClusterTracker.StereoCluster c) Computes distance to another cluster
float	getDisparity()
float	getDisparityVelocity()
StereoClusterTracker.StereoCluster.Point3d	getLocation3dm()
StereoClusterTracker.StereoCluster.Point3d	getVelocity3dmps()
void	setDisparity(float disparity)
void	setDisparityVelocity(float disparityVelocity)
void	setLocation3dm(StereoClusterTracker.StereoCluster.Point3d location3dm)
void	setVelocity3dmps(StereoClusterTracker.StereoCluster.Point3d velocity3dmps)
java.lang.String	toString()

Methods inherited from class net.sf.jaer.eventprocessing.tracking.RectangularClusterTracker.Cluster

distanceMetric, distanceTo, getAngle, getAspectRatio, getAverageEventDistance, getAvgEventRate, getAvgISI, getBirthLocation, getClusterNumber, getColor, getDistanceFromBirth, getDistanceXFromBirth, getDistanceYFromBirth, getLastEventTimestamp, getLifetime, getLocation, getMeasuredSizeCorrectedByPerspective, getPath, getRadius, getRadiusCorrectedForPerspective, getVelocityPPS, isVelocityValid, isVisible, setAngle, setAspectRatio, setAverageEventDistance, setAvgEventRate, setAvgISI, setBirthLocation, setClusterNumber, setColor, setColorAccordingToAge, setColorAccordingToClass, setColorAccordingToSize, setColorAutomatically, setLocation, setRadius, setVelocityValid, updatePath

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

location3dm

public StereoClusterTracker.StereoCluster.Point3d location3dm

location of cluster in 3d space as computed from pixel location and disparity, given chip's StereoGeometry. Coordinate frame is centered on bridge of viewers nose and z increases with distance. Units are meters. x increses from 0 rightwards from midline in image coordinates (larger to right in image) and y increases upwards in the same way

velocity3dmps

public StereoClusterTracker.StereoCluster.Point3d velocity3dmps

velocity of cluster in 3d space as computed from pixel location and disparity, given chip's StereoGeometry. Coordinate frame is centered on bridge of viewers nose and z increases with distance. Units are meters per second. x increses from 0 rightwards from midline in image coordinates (larger to right in image) and y increases upwards in the same way

Constructor Detail

StereoClusterTracker.StereoCluster

public StereoClusterTracker.StereoCluster()

StereoClusterTracker.StereoCluster

public StereoClusterTracker.StereoCluster(BasicEvent ev)

Constructs a new cluster centered on an event

Parameters:

ev - the event

StereoClusterTracker.StereoCluster

public StereoClusterTracker.StereoCluster(StereoClusterTracker.StereoCluster one,
                                          StereoClusterTracker.StereoCluster two)

Constructs a cluster by merging two clusters

Method Detail

addEvent

public void addEvent(BasicEvent event)

adds one BasicEvent event to this cluster, updating its parameters in the process

Overrides:

addEvent in class RectangularClusterTracker.Cluster

Parameters:

event - the event to add

addEvent

public void addEvent(BinocularEvent event)

adds one BinocularEvent to this cluster, updating its parameters in the process

Parameters:

event - the event to add

distanceTo

public float distanceTo(BasicEvent event)

Computes ditance of cluster to event

Parameters:

event - the event

Returns:

distance of this cluster to the event in manhatten (cheap) metric (sum of abs values of x and y distance

distanceTo

protected final float distanceTo(StereoClusterTracker.StereoCluster c)

Computes distance to another cluster

Parameters:

c - the other StereoCluster

Returns:

distance of this cluster to the other cluster in pixels

toString

public java.lang.String toString()

Overrides:

toString in class RectangularClusterTracker.Cluster

getDisparityVelocity

public float getDisparityVelocity()

setDisparityVelocity

public void setDisparityVelocity(float disparityVelocity)

getLocation3dm

public StereoClusterTracker.StereoCluster.Point3d getLocation3dm()

See Also:

location3dm

setLocation3dm

public void setLocation3dm(StereoClusterTracker.StereoCluster.Point3d location3dm)

See Also:

location3dm

getVelocity3dmps

public StereoClusterTracker.StereoCluster.Point3d getVelocity3dmps()

See Also:

velocity3dmps

setVelocity3dmps

public void setVelocity3dmps(StereoClusterTracker.StereoCluster.Point3d velocity3dmps)

See Also:

velocity3dmps

getDisparity

public float getDisparity()

setDisparity

public void setDisparity(float disparity)