gml_TTrackedVector Class Reference

#include <gml_TrackedVector.h>

Collaboration diagram for gml_TTrackedVector:

Detailed Description

Representation of objects tracked in 2D by the gml_TTracker class.


Public Types
enum	State { Born, Alive, Zombie, Dead }
	Internal tracking state of a tracked object. More...
typedef gml_TQueue< Event >	EventQueue
	Queues of tracking events.
Public Member Functions
gml_TError	Init (gml_TArray< Float32 > &features, gml_TArray< Float32 > &weights, gml_TArray< Float32 > &stability, EventQueue &queue, UInt64 startDelay=sDefaultStartDelay(), UInt64 ttlDelay=sDefaultTTLDelay())
	Setup tracked object data.
void	Dispose (UInt64 time)
gml_TError	Update (UInt64 gap, UInt64 time, gml_TArray< Float32 > &features)
	Update object's state and possibly generate events; this version is used when the object has been detected (i.e. a feature vector has been measured).
gml_TError	Update (UInt64 gap, UInt64 time)
	Update object's state and possibly generate events; this version is used when the object has not been detected (i.e. a feature vector has not been measured).
State	GetState ()
	Return the current state of the tracked object.
Float32	Distance (gml_TArray< Float32 > &otherFeatures)
	Return the distance to another set of features. May return 0 or FLT_MAX.
Float32	operator[] (unsigned k)
	Bracket.
Static Public Member Functions
static UInt64	sDefaultStartDelay ()
	default for fStartDelay
static UInt64	sDefaultTTLDelay ()
	default for fTTLDelay
static Float32	sDefaultStaticStability ()
	default for fStaticStability
Static Public Attributes
static gml_TError	sErrorBadState = (gml_TError)-1
Protected Member Functions
void	UpdateFeatures (gml_TArray< Float32 > &newFeatures)
Static Protected Member Functions
static void	ClassInit ()
	class setup
Protected Attributes
UInt32	fIdentity
	UID of the object.
UInt64	fLifeTime
	time since the object was born (relevant while in Born state)
UInt64	fTimeToLive
	remaining lifetime of the object (relevant while in Zombie state)
State	fState
	current object state
UInt64	fStartDelay
	time after which a consistently detected object will be tracked (nanoseconds). < i.e. delay for the Born -> Alive transition
UInt64	fTTLDelay
	time after which an object will die if undetected (nanoseconds). < i.e. delay for the Zombie -> Dead transition
gml_TArray< Float32 >	fFeatures
	tracked object's current feature vector
gml_TArray< Float32 > &	fWeights
	weight of features when comparing feature vectors
gml_TArray< Float32 > &	fStaticStability
	threshold under which object motion is discarded (for each feature)
EventQueue &	fQueue
	queue in which to push the tracking events
Static Protected Attributes
static bool	sModuleInited = false
	was ClassInit() called ?
Classes
struct	Event
	Type of events that can occur during tracking. More...

Member Enumeration Documentation

enum State

Internal tracking state of a tracked object.

Possible state transitions:

               .-> Alive <--> Zombie -,
         Born -|                      |-> Dead
               '----------------------'

Enumerator:

Born	the object was recently detected
Alive	the object was consistently detected and is tracked
Zombie	the object wasn't detected, and might be either gone or missed
Dead	the object is not to be tracked anymore

Member Function Documentation

gml_TError Init	(	gml_TArray< Float32 > &	features,
		gml_TArray< Float32 > &	weights,
		gml_TArray< Float32 > &	stability,
		EventQueue &	queue,
		UInt64	startDelay = `sDefaultStartDelay()`,
		UInt64	ttlDelay = `sDefaultTTLDelay()`
	)

Setup tracked object data.

Parameters:

queue	where to push the events
startDelay	see fStartDelay
ttlDelay	see fTTLDelay

void Dispose ( UInt64 time )

Bug:: possibly, need to test for errors here (e.g. queue full)

gml_TError Update	(	UInt64	gap,
		UInt64	time,
		gml_TArray< Float32 > &	features
	)

Update object's state and possibly generate events; this version is used when the object has been detected (i.e. a feature vector has been measured).

Parameters:

gap	since when (in nanoseconds) ?
time	the current timestamp (nanoseconds)
features	the current object features (or an empty vector)

gml_TError Update	(	UInt64	gap,
		UInt64	time
	)

Update object's state and possibly generate events; this version is used when the object has not been detected (i.e. a feature vector has not been measured).

Parameters:

gap	since when (in nanoseconds) ?
time	the current timestamp (nanoseconds)

Float32 operator[] ( unsigned k ) [inline]

Bracket.

Inspect feature values.

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

vision/gml_TrackedVector.h
vision/gml_TrackedVector.cc

gml_TTrackedVector Class Reference

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Classes

Member Enumeration Documentation

Member Function Documentation