segmentImageMerge Class Reference

Collaboration diagram for segmentImageMerge:

Public Member Functions
	segmentImageMerge (int instances)
	default constructor, also sets up number of tracker instances
void	setCircleColor (int r, int g, int b, int instance)
	set the tracking color for mass circle
void	setBoxColor (int r, int g, int b, int instance)
void	setTrackColor (float h, float hstd, float s, float sstd, float v, float vstd, int instance, bool adapt, int avg)
	set default tracking color values
void	setAdapt (float ha, bool haSTD, float sa, bool saSTD, float va, bool vaSTD, int instance)
	set initial adaptive color thresholds for tracking
void	setAdaptBound (float Hupper, float Hlower, float Supper, float Slower, float Vupper, float Vlower, int instance)
	set up hard bounds for color adaptation
void	setCameraPosition (float pan, float tilt, int instance, bool stats=false)
	tell this method the pan and tilt postition the camera is moving to
void	setFrame (int x1, int y1, int x2, int y2, int realX, int realY, int instance)
	set frame size for color tracker
void	trackImage (Image< PixRGB< byte > > input, Image< PixRGB< byte > > image, int instance, Image< PixRGB< byte > > auxImage, bool fast=false)
	Put image one at a time into tracker and get back tracker image output.
void	trackImageMulti (std::vector< Image< PixRGB< byte > > > *image, int instances)
	put image set into tracker and let it sort all this stuff out
void	mergeImages (Image< PixRGB< byte > > *image)
	merge qualities of images if needed
void	updateVergance (float distance, float gaussBase=36)
	update the vergance distance if needed for cameras
void	verganceSpring (int instance, int current, bool doTracked)
	apply probabalistic model over multiple stereo cameras for vergance
void	getImageTrackXY (int x, int y, int instance)
	get back X and Y coords for tracking
void	getImageTrackXY2 (int x, int y, int instance)
	get back X and Y coords for tracking
void	getImageTrackXYMerge (int x, int y)
	get back merged X and Y coords for tracking
bool	returnLOT (int instance)
	return true if loss of track
float	returnCameraProb (int instance)
	return the P of a good track
bool	doMoveCamera (int instance, float doPan, float doTilt)
	return if camera should move based upon maximum LOT's
Image< byte >	returnCandidateImage (int instance)
	return the image of candidate pixels
bool	StereoMatch (PixelPoint points[2], CameraParams params[2], Point3D *retPoint)
	Project corresponding points in 3D.

Detailed Description

Definition at line 48 of file segmentImageMerge.H.

Constructor & Destructor Documentation

segmentImageMerge::segmentImageMerge ( int instances )

default constructor, also sets up number of tracker instances

Definition at line 268 of file segmentImageMerge.C.

References CAMERAMU1, and ERRINTERVAL.

Member Function Documentation

bool segmentImageMerge::doMoveCamera	(	int	instance,
		float *	doPan,
		float *	doTilt
	)

return if camera should move based upon maximum LOT's

Definition at line 747 of file segmentImageMerge.C.

void segmentImageMerge::getImageTrackXY	(	int *	x,
		int *	y,
		int	instance
	)

get back X and Y coords for tracking

Definition at line 719 of file segmentImageMerge.C.

void segmentImageMerge::getImageTrackXY2	(	int *	x,
		int *	y,
		int	instance
	)

get back X and Y coords for tracking

Definition at line 725 of file segmentImageMerge.C.

void segmentImageMerge::getImageTrackXYMerge	(	int *	x,
		int *	y
	)

get back merged X and Y coords for tracking

Definition at line 731 of file segmentImageMerge.C.

void segmentImageMerge::mergeImages ( Image< PixRGB< byte > > * image )

merge qualities of images if needed

Definition at line 549 of file segmentImageMerge.C.

References drawCircle(), image, and returnLOT().

float segmentImageMerge::returnCameraProb ( int instance )

return the P of a good track

Definition at line 742 of file segmentImageMerge.C.

Image< byte > segmentImageMerge::returnCandidateImage ( int instance )

return the image of candidate pixels

Definition at line 756 of file segmentImageMerge.C.

References segmentImage::returnNormalizedCandidates().

bool segmentImageMerge::returnLOT ( int instance )

return true if loss of track

Definition at line 737 of file segmentImageMerge.C.

Referenced by mergeImages(), and verganceSpring().

void segmentImageMerge::setAdapt	(	float	ha,
		bool	haSTD,
		float	sa,
		bool	saSTD,
		float	va,
		bool	vaSTD,
		int	instance
	)

set initial adaptive color thresholds for tracking

Definition at line 380 of file segmentImageMerge.C.

void segmentImageMerge::setAdaptBound	(	float	Hupper,
		float	Hlower,
		float	Supper,
		float	Slower,
		float	Vupper,
		float	Vlower,
		int	instance
	)

set up hard bounds for color adaptation

Parameters:

	Hupper	upper bound for adaptive hue
	Hlower	lower bound for adaptive hue
	Supper	upper bound for adaptive saturation
	Slower	lower bound for adaptive saturation
	Vupper	upper bound for adaptive intensity
	Vlower	lower bound for adaptive intensity
	instance	Which tracker to apply these settings to

Definition at line 391 of file segmentImageMerge.C.

void segmentImageMerge::setBoxColor	(	int	r,
		int	g,
		int	b,
		int	instance
	)

set the tracking colot for the bounding box set the tracking color for mass circle

Parameters:

	r	this is the red color for the output bounding box
	g	this is the green color for the output bounding box
	b	this is the blue color for the output bounding box
	instance	this is the tracker to apply these settings to

Definition at line 353 of file segmentImageMerge.C.

void segmentImageMerge::setCameraPosition	(	float	pan,
		float	tilt,
		int	instance,
		bool	stats = `false`
	)

tell this method the pan and tilt postition the camera is moving to

Definition at line 404 of file segmentImageMerge.C.

References ERRINTERVAL, and sqrt().

void segmentImageMerge::setCircleColor	(	int	r,
		int	g,
		int	b,
		int	instance
	)

set the tracking color for mass circle

Parameters:

	r	this is the red color for the output circle
	g	this is the green color for the output circle
	b	this is the blue color for the output circle
	instance	this is the tracker to apply these settings to

Definition at line 345 of file segmentImageMerge.C.

void segmentImageMerge::setFrame	(	int	x1,
		int	y1,
		int	x2,
		int	y2,
		int	realX,
		int	realY,
		int	instance
	)

set frame size for color tracker

Definition at line 455 of file segmentImageMerge.C.

References segmentImage::setFrame().

void segmentImageMerge::setTrackColor	(	float	h,
		float	hstd,
		float	s,
		float	sstd,
		float	v,
		float	vstd,
		int	instance,
		bool	adapt,
		int	avg
	)

set default tracking color values

Parameters:

	h	initial hue value
	hstd	initial boundary in standard deviation for h
	s	initial satuaration value
	sstd	initial boundary in standard deviation for s
	v	initial intensity value
	vstd	initial boundary in standard deviation for v
	instance	which tracker instance to apply these settings too
	adapt	tells if you want these values to adapt

Definition at line 361 of file segmentImageMerge.C.

References segmentImage::setHSVavg(), segmentImage::setHue(), segmentImage::setSat(), and segmentImage::setVal().

bool segmentImageMerge::StereoMatch	(	PixelPoint	points[2],
		CameraParams	params[2],
		Point3D *	retPoint
	)

Project corresponding points in 3D.

Definition at line 761 of file segmentImageMerge.C.

References Point3D< T >::x.

void segmentImageMerge::trackImage	(	Image< PixRGB< byte > >	input,
		Image< PixRGB< byte > > *	image,
		int	instance,
		Image< PixRGB< byte > > *	auxImage,
		bool	fast = `false`
	)

Put image one at a time into tracker and get back tracker image output.

Parameters:

	input	this is the raw input image
	image	this is a pointer to the output image
	outputI	this is a pointer the the candidate pixel image
	instance	This is the image instance to which you are using
	auxImage	this is a pointer to the HSV threshold bar image

Definition at line 462 of file segmentImageMerge.C.

References ASSERT, segmentImage::calcMassCenter(), decXY(), image, and segmentImage::segment().

void segmentImageMerge::trackImageMulti	(	std::vector< Image< PixRGB< byte > > > *	image,
		int	instances
	)

put image set into tracker and let it sort all this stuff out

this method will track over multiple stereo pair linked cameras and produce blobs to track that agree with assumptions of stereo tracking for instance vergance and spacial locality.

Parameters:

	input	this is the raw input image
	image	this is a pointer to the output image
	outputI	this is a pointer the the candidate pixel image
	instance	This is the image instance to which you are using
	auxImage	this is a pointer to the HSV threshold bar image

Definition at line 498 of file segmentImageMerge.C.

References ASSERT, segmentImage::calcMassCenter(), decXY(), image, segmentImage::segment(), updateVergance(), and verganceSpring().

void segmentImageMerge::updateVergance	(	float	distance,
		float	gaussBase = `36`
	)

update the vergance distance if needed for cameras

feed in the new distance to target and extact P over expected vergance

Parameters:

distance

is a measure in inches (sorry)

Definition at line 574 of file segmentImageMerge.C.

References DISTANCE.

Referenced by trackImageMulti().

void segmentImageMerge::verganceSpring	(	int	instance,
		int	current,
		bool	doTracked
	)

apply probabalistic model over multiple stereo cameras for vergance

This method will calculate the most likely blob from a set of blobs based upon the vergance of the cameras. That is, joined stereo pairs should. experiance vergance to a target. This method creates virtual springs to pull the cameras into vergance with each other based upon the probability that a target will bring a camera into vergance with the other cameras. To use this method you must have defined a probabalistic model over vergance in the cameras.

Parameters:

	instance	this is the instance of the track, in this case the camera
	doTracked	this is true if you wish to apply to cameras that \ are not currently in loss of track (LOT)

Definition at line 590 of file segmentImageMerge.C.

References abs(), cameraConf::fieldAdjustmentX, cameraConf::fieldAdjustmentY, stats< T >::gauss(), segmentImage::getCenterX(), LOTMAX, segmentImage::numberBlobs(), returnLOT(), cameraConf::Xfield, cameraConf::Xpixel, cameraConf::Yfield, and cameraConf::Ypixel.

Referenced by trackImageMulti().

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

src/VFAT/segmentImageMerge.H
src/VFAT/segmentImageMerge.C

segmentImageMerge Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation