iso::tracker::Tracker2D

iso::tracker::Tracker2D Class Reference

#include <iso_tracker_2d.h>

Inheritance diagram for iso::tracker::Tracker2D:

[legend]Collaboration diagram for iso::tracker::Tracker2D:


Public Member Functions
	Tracker2D (Camera *pCamera)
	default constructor
	Tracker2D (Camera *pCamera, float pUpdateInterval)
	default constructor
	Tracker2D (Camera *pCamera, const math::Vector2< unsigned int > &pFrameSize, float pUpdateInterval)
	default constructor
	Tracker2D (Camera *pCamera, unsigned int pCalibFrameCount, bool pContCalib, float pUpdateInterval)
	create 2D tracker
	Tracker2D (Camera *pCamera, unsigned int pCalibFrameCount, const base::String &pBGCalibFileName, float pUpdateInterval)
	create 2D tracker
	~Tracker2D ()
	destructor
void	save ()
void	restore ()
const math::Vector2< float > &	bgStdLimit () const
void	setBgStdLimit (const math::Vector2< float > &pBgStdLimit)
	set background calibration limits
TrackerCom &	com ()
	return communcation manager
QVector< TrackObject * > &	trackObjects ()
	return track objects
MotionTracker &	motionTracker ()
	return motion tracker
PositionTracker &	positionTracker ()
	return position tracker
IplImage *	foreground ()
	return foreground image
IplImage *	trackObjectsSumImage ()
unsigned char *	rawFrameData ()
	return raw frame data
unsigned char *	bgSubFrameData ()
	return background subtracted frame data
math::VectorField< float > &	motionField ()
	return motion field
unsigned char *	fgData ()
unsigned char *	debugData ()
	whatever type of debug data
int	FGThreshold () const
void	setFGThreshold (int pFGThreshold)
void	update ()
	update tracker
bool	invertCameraFrame () const
void	toggleInvertCameraFrame ()
const math::Vector2< int > &	cropSize () const
const math::Vector2< int > &	cropPos () const
void	setCropSize (const math::Vector2< int > &pCropSize)
void	setCropPos (const math::Vector2< int > &pCropPos)
void	toggleExportImage ()
void	toggleRecordFrames ()
const QVector< math::Vector2< float > > &	perspMapPoints () const
void	updatePerspTransform (math::Vector2< float > pPos)
float	calibrationProgress () const
virtual void	startCalibration ()
	start frame calibration
Static Public Member Functions
static event::EventManager &	eventManager ()
	return minimum track object size return event manager
Protected Member Functions
void	init ()
	initialize tracker
void	bgSubtract (IplImage pSourceFrame, IplImage pTargetFrame)
	perform background subtraction
void	calcForeground (IplImage pSourceFrame, IplImage pTargetFrame)
	calculate foreground
void	calcPerspMapping ()
	calculate perspective mapping
void	exportImage (const base::String &pFileName)
Protected Attributes
IplImage *	mRawFrame
	minimum bounding box size for track object to be accepted unprocessed distance camera data
bool	mScaleCamFrame
	flag that indicates whether camera frame needs to be rescaled for raw image
math::Vector2< float >	mBgStdLimit
	standard deviation limit for background subtraction
IplImage *	mBgMaskFrame
	background removal mask
IplImage *	mBGSubFrame
IplImage *	mBGSubMonoFrame
IplImage *	mFGFrame
IplImage *	mRawMonoFrame
IplImage *	mFullFGFrame
IplImage *	mCropMask
IplImage *	mScaleDebugFrame
	debug frames
IplImage *	mCharDebugFrame
BGCalibration	mCalibration
	background statistics for camera data
PositionTracker	mPositionTracker
MotionTracker	mMotionTracker
QVector< TrackObject * >	mTrackObjects
	tracking objects
IplImage *	mTrackObjectsSumImage
math::Vector2< int >	mCropSize
math::Vector2< int >	mCropPos
bool	mInvertCameraFrame
bool	mExportImage
unsigned int	mExportImageCount
QVector< math::Vector2< float > >	mPerspMappingPoints
QVector< math::Vector2< float > >	mPerspReferencePoints
CvMat *	mPerspMatrix
IplImage *	mPerspImage
IplImage *	mPerspMonoImage
int	mFGThreshold
QTime	mTime
	timer for performance feedback
QString	mSaveFileName
bool	mRecordFrames
QImage *	mSaveFrameImage
unsigned int	mSaveFrameIndex
Static Protected Attributes
static math::Vector2< float >	sBgStdLimit
	default standard deviation limit for background subtraction
static unsigned int	sTrackObjectCount
	default max number of track objects
static unsigned int	sTrackSubObjectCount
	number of track sub objects contained within each track object
static event::EventManager	sEventManager
	event manager

Constructor & Destructor Documentation

Tracker2D::Tracker2D ( Camera * pCamera )

default constructor

Parameters:

pCamera

camera

Tracker2D::Tracker2D	(	Camera *	pCamera,
		float	pUpdateInterval
	)

default constructor

Parameters:

	pCamera	camera
	pUpdateInterval	update interval [milisecs]

Tracker2D::Tracker2D	(	Camera *	pCamera,
		const math::Vector2< unsigned int > &	pFrameSize,
		float	pUpdateInterval
	)

default constructor

Parameters:

	pCamera	camera
	pFrameSize	Tracking Frame Size
	pUpdateInterval	update interval [milisecs]

Tracker2D::Tracker2D	(	Camera *	pCamera,
		unsigned int	pCalibFrameCount,
		bool	pContCalib,
		float	pUpdateInterval
	)

create 2D tracker

Parameters:

	pCamera	camera
	pCalibFrameCount	number of calibration frames
	pContCalib	continuous calibration
	pUpdateInterval	update interval [milisecs]

Tracker2D::Tracker2D	(	Camera *	pCamera,
		unsigned int	pCalibFrameCount,
		const base::String &	pBGCalibFileName,
		float	pUpdateInterval
	)

create 2D tracker

Parameters:

	pCamera	camera
	pCalibFrameCount	number of calibration frames
	pBGCalibFileName	background calibration file name
	pUpdateInterval	update interval [milisecs]

if pBGCalibFileName exists, read background calibration data from file whenever background calibration is performed again, write the new calibration data into file

Tracker2D::~Tracker2D ( )

destructor

Member Function Documentation

void Tracker2D::save ( )

void Tracker2D::restore ( )

const math::Vector2< float > & Tracker2D::bgStdLimit ( ) const

void Tracker2D::setBgStdLimit ( const math::Vector2< float > & pBgStdLimit )

set background calibration limits

Parameters:

pBgStdLimit

lower and upper limits (number of standard deviations)

event::EventManager & Tracker2D::eventManager ( ) [static]

return minimum track object size return event manager

Returns:: event manager

TrackerCom & Tracker2D::com ( )

return communcation manager

QVector< TrackObject * > & Tracker2D::trackObjects ( )

return track objects

MotionTracker & Tracker2D::motionTracker ( )

return motion tracker

Returns:: motion tracker

PositionTracker & Tracker2D::positionTracker ( )

return position tracker

Returns:: position tracker

IplImage * Tracker2D::foreground ( )

return foreground image

Returns:: foreground image

IplImage * Tracker2D::trackObjectsSumImage ( )

unsigned char * Tracker2D::rawFrameData ( )

return raw frame data

unsigned char * Tracker2D::bgSubFrameData ( )

return background subtracted frame data

math::VectorField< float > & Tracker2D::motionField ( )

return motion field

Returns:: motion field

unsigned char * Tracker2D::fgData ( )

unsigned char * Tracker2D::debugData ( )

whatever type of debug data

int Tracker2D::FGThreshold ( ) const

void Tracker2D::setFGThreshold ( int pFGThreshold )

void Tracker2D::update ( ) [virtual]

update tracker

Implements iso::tracker::Tracker.

bool Tracker2D::invertCameraFrame ( ) const

void Tracker2D::toggleInvertCameraFrame ( )

const math::Vector2< int > & Tracker2D::cropSize ( ) const

const math::Vector2< int > & Tracker2D::cropPos ( ) const

void Tracker2D::setCropSize ( const math::Vector2< int > & pCropSize )

void Tracker2D::setCropPos ( const math::Vector2< int > & pCropPos )

void Tracker2D::toggleExportImage ( )

void Tracker2D::toggleRecordFrames ( )

const QVector< math::Vector2< float > > & Tracker2D::perspMapPoints ( ) const

void Tracker2D::updatePerspTransform ( math::Vector2< float > pPos )

float Tracker2D::calibrationProgress ( ) const

void Tracker2D::startCalibration ( ) [virtual]

start frame calibration

Reimplemented from iso::tracker::Tracker.

void Tracker2D::init ( ) [protected]

initialize tracker

void Tracker2D::bgSubtract	(	IplImage *	pSourceFrame,
		IplImage *	pTargetFrame
	)			`[protected]`

perform background subtraction

Parameters:

	pSourceFrame	source frame
	pTargetFrame	target frame

void Tracker2D::calcForeground	(	IplImage *	pSourceFrame,
		IplImage *	pTargetFrame
	)			`[protected]`

calculate foreground

Parameters:

	pSourceFrame	source frame
	pTargetFrame	target frame

void Tracker2D::calcPerspMapping ( ) [protected]

calculate perspective mapping

void Tracker2D::exportImage ( const base::String & pFileName ) [protected]

Member Data Documentation

math::Vector2< float > Tracker2D::sBgStdLimit [static, protected]

default standard deviation limit for background subtraction

unsigned int Tracker2D::sTrackObjectCount [static, protected]

default max number of track objects

unsigned int Tracker2D::sTrackSubObjectCount [static, protected]

number of track sub objects contained within each track object

IplImage* iso::tracker::Tracker2D::mRawFrame [protected]

minimum bounding box size for track object to be accepted unprocessed distance camera data

bool iso::tracker::Tracker2D::mScaleCamFrame [protected]

flag that indicates whether camera frame needs to be rescaled for raw image

math::Vector2<float> iso::tracker::Tracker2D::mBgStdLimit [protected]

standard deviation limit for background subtraction

IplImage* iso::tracker::Tracker2D::mBgMaskFrame [protected]

background removal mask

for background subtraction
0: remove background >0: don't remove background

IplImage* iso::tracker::Tracker2D::mBGSubFrame [protected]

brief background subtracted color frame

IplImage* iso::tracker::Tracker2D::mBGSubMonoFrame [protected]

brief background subtracted mono frame

IplImage* iso::tracker::Tracker2D::mFGFrame [protected]

brief foreground grayscale frame

IplImage* iso::tracker::Tracker2D::mRawMonoFrame [protected]

IplImage* iso::tracker::Tracker2D::mFullFGFrame [protected]

IplImage* iso::tracker::Tracker2D::mCropMask [protected]

IplImage* iso::tracker::Tracker2D::mScaleDebugFrame [protected]

debug frames

IplImage * iso::tracker::Tracker2D::mCharDebugFrame [protected]

BGCalibration iso::tracker::Tracker2D::mCalibration [protected]

background statistics for camera data

PositionTracker iso::tracker::Tracker2D::mPositionTracker [protected]

brief position tracker

MotionTracker iso::tracker::Tracker2D::mMotionTracker [protected]

brief motion tracker

QVector< TrackObject* > iso::tracker::Tracker2D::mTrackObjects [protected]

tracking objects

IplImage* iso::tracker::Tracker2D::mTrackObjectsSumImage [protected]

event::EventManager Tracker2D::sEventManager [static, protected]

event manager

currently of no use at all but com manager expects an event manager

math::Vector2<int> iso::tracker::Tracker2D::mCropSize [protected]

math::Vector2<int> iso::tracker::Tracker2D::mCropPos [protected]

bool iso::tracker::Tracker2D::mInvertCameraFrame [protected]

bool iso::tracker::Tracker2D::mExportImage [protected]

unsigned int iso::tracker::Tracker2D::mExportImageCount [protected]

QVector< math::Vector2<float> > iso::tracker::Tracker2D::mPerspMappingPoints [protected]

QVector< math::Vector2<float> > iso::tracker::Tracker2D::mPerspReferencePoints [protected]

CvMat* iso::tracker::Tracker2D::mPerspMatrix [protected]

IplImage* iso::tracker::Tracker2D::mPerspImage [protected]

IplImage* iso::tracker::Tracker2D::mPerspMonoImage [protected]

int iso::tracker::Tracker2D::mFGThreshold [protected]

QTime iso::tracker::Tracker2D::mTime [protected]

timer for performance feedback

Reimplemented from iso::tracker::Tracker.

QString iso::tracker::Tracker2D::mSaveFileName [protected]

bool iso::tracker::Tracker2D::mRecordFrames [protected]

QImage* iso::tracker::Tracker2D::mSaveFrameImage [protected]

unsigned int iso::tracker::Tracker2D::mSaveFrameIndex [protected]

The documentation for this class was generated from the following files:

/Users/dbisig/programming/swarms/trunk/tracker/trunk/code/tracker/iso_tracker_2d.h
/Users/dbisig/programming/swarms/trunk/tracker/trunk/code/tracker/iso_tracker_2d.cpp

Generated on Fri Feb 25 14:20:29 2011 for iso_tracker by

1.5.1

iso::tracker::Tracker2D Class Reference

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation