net.sf.jaer.stereopsis
Class StereoClusterTracker

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

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

public class StereoClusterTracker
extends RectangularClusterTracker

Extends ClusterTracker to track objects in 3-d space. The StereoCluster is extended to include disparity information and the events used to track are BinocularEvents.

Author:

tobi

Nested Class Summary

class

StereoClusterTracker.StereoCluster Extends the 2-d cluster to include 2.5-d disparity information.

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

RectangularClusterTracker.Cluster

Field Summary

protected java.util.ArrayList<StereoClusterTracker.StereoCluster>

clusters list of StereoCluster, this field hides the super's 2d image plane Cluster's

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

ASPECT_RATIO_MAX, ASPECT_RATIO_MIN, chip, clusterCounter, defaultClusterRadius, fullbrightnessLifetime, growMergedSizeEnabled, MAX_SCALE_RATIO, mixingFactor, pruneList, random

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter2D

enclosedFilter, out

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter

annotationEnabled, enclosedFilterChain, filterEnabled, perf, propertyTooltipMap, support

Constructor Summary

StereoClusterTracker(AEChip chip)
Creates a new instance of StereoClusterTracker

Method Summary

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).
EventPacket	filterPacket(EventPacket in) Subclasses implement this method to define custom processing.
StereoClusterTracker.StereoCluster	getFirstContainingCluster(BasicEvent event) Given AE, returns first (thus oldest) cluster that event is within.
StereoClusterTracker.StereoCluster	getNearestCluster() returns the physically nearest (to observer) visible cluster based on maximum disparity.
int	getNumClusters()
java.util.ArrayList<StereoClusterTracker.StereoCluster>	getStereoClusters() returns stereo clusters
float	getVelocityMixingFactor()
boolean	isLogDataEnabled()
void	resetFilter() should reset the filter to initial state
void	setLogDataEnabled(boolean logDataEnabled)
void	setVelocityMixingFactor(float velocityMixingFactor)

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

annotate, annotate, drawBox, getAspectRatio, getClassifierThreshold, getClusterLifetimeWithoutSupportUs, getClusters, getClusterSize, getDescription, getDynamicSizeEnabled, getFilterState, getMaxNumClusters, getMixingFactor, getOpticalGyroTauLowpassMs, getPathLength, getPredictiveVelocityFactor, getSurround, getThresholdEventsForVisibleCluster, getThresholdVelocityForVisibleCluster, getVelocityPoints, initFilter, isClassifierEnabled, isClusterLifetimeIncreasesWithAge, isColorClustersDifferentlyEnabled, isDynamicAngleEnabled, isDynamicAspectRatioEnabled, isGrowMergedSizeEnabled, isHighwayPerspectiveEnabled, isOpticalGyroEnabled, isPathsEnabled, isShowAllClusters, isUseNearestCluster, isUseOffPolarityOnlyEnabled, isUseOnePolarityOnlyEnabled, isUseVelocity, setAspectRatio, setClassifierEnabled, setClassifierThreshold, setClusterLifetimeIncreasesWithAge, setClusterLifetimeWithoutSupportUs, setClusterSize, setColorClustersDifferentlyEnabled, setDynamicAngleEnabled, setDynamicAspectRatioEnabled, setDynamicSizeEnabled, setGrowMergedSizeEnabled, setHighwayPerspectiveEnabled, setMaxNumClusters, setMixingFactor, setOpticalGyroEnabled, setOpticalGyroTauLowpassMs, setPathLength, setPathsEnabled, setPredictiveVelocityFactor, setShowAllClusters, setSurround, setThresholdEventsForVisibleCluster, setThresholdVelocityForVisibleCluster, setUseNearestCluster, setUseOffPolarityOnlyEnabled, setUseOnePolarityOnlyEnabled, setUseVelocity, setVelocityPoints, toString, update

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

clusters

protected java.util.ArrayList<StereoClusterTracker.StereoCluster> clusters

list of StereoCluster, this field hides the super's 2d image plane Cluster's

Constructor Detail

StereoClusterTracker

public StereoClusterTracker(AEChip chip)

Creates a new instance of StereoClusterTracker

Method Detail

filterPacket

public EventPacket filterPacket(EventPacket in)

Description copied from class: EventFilter2D

Subclasses implement this method to define custom processing.

Overrides:

filterPacket in class RectangularClusterTracker

Parameters:

in - the input packet

Returns:

the output packet

getStereoClusters

public java.util.ArrayList<StereoClusterTracker.StereoCluster> getStereoClusters()

returns stereo clusters

Returns:

list of StereoClusterTracker clusters

getNumClusters

public int getNumClusters()

Overrides:

getNumClusters in class RectangularClusterTracker

Returns:

number of StereoCluster's

getNearestCluster

public StereoClusterTracker.StereoCluster getNearestCluster()

returns the physically nearest (to observer) visible cluster based on maximum disparity. Not to be confused with method getNearestCluster(BasicEvent ev) that returns the closest cluster to an event in the image plane. A cluster is only returned if has received enough support to become visible.

Returns:

closest cluster, or null if there are no clusters

getFirstContainingCluster

public StereoClusterTracker.StereoCluster getFirstContainingCluster(BasicEvent event)

Given AE, returns first (thus oldest) cluster that event is within. The radius of the cluster here depends on whether size scaling is enabled.

Parameters:

event - the event

Returns:

cluster that contains event within the cluster's radius, modfied by aspect ratio. null is returned if no cluster is close enough.

resetFilter

public void resetFilter()

Description copied from class: EventFilter

should reset the filter to initial state

Overrides:

resetFilter in class RectangularClusterTracker

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

Overrides:

annotate in class RectangularClusterTracker

Parameters:

drawable - the OpenGL drawable components, e.g., GLCanvas

isLogDataEnabled

public boolean isLogDataEnabled()

Overrides:

isLogDataEnabled in class RectangularClusterTracker

setLogDataEnabled

public void setLogDataEnabled(boolean logDataEnabled)

Overrides:

setLogDataEnabled in class RectangularClusterTracker

getVelocityMixingFactor

public float getVelocityMixingFactor()

setVelocityMixingFactor

public void setVelocityMixingFactor(float velocityMixingFactor)