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gml_TrackedVector.h // gml_TrackedVector.h // // Define the gml_TTrackedVector class. // // Copyright (c) 2004 CLIPS-IMAG // // See the file "gml_LicenseTerms.txt" for information on usage and redistribution // of this file, and for a DISCLAIMER OF ALL WARRANTIES. // // Created in March 2004 (JL). #ifndef __GML_TRACKED_OBJECT__ #define __GML_TRACKED_OBJECT__ // project headers #include "gml/image/gml_Geometry.h" #include "gml/base/gml_Types.h" #include "gml/base/gml_Errors.h" #include "gml/base/gml_Queue.h" //////////////////////////////////////////////////////////////////////////////// // // // gml_TTrackedVector class declaration // // // //////////////////////////////////////////////////////////////////////////////// /// /// gml_TTrackedVector -- /// Representation of objects tracked in 2D by the gml_TTracker class. /// class gml_TTrackedVector { public: /// /// Event -- /// Type of events that can occur during tracking /// struct Event { /// categories of tracking events enum Type { Noop, Appear, Update, Disappear }; Type fType; ///< type of the event UInt32 fIdentity; ///< unique identifier of the event source object UInt64 fTimeStamp; ///< event generation timestamp (nanoseconds) gml_TArray<Float32> fFeatures; ///< current object features char *Name (); ///< name associated with the event's type }; /// /// EventQueue -- /// Queues of tracking events /// typedef gml_TQueue<Event> EventQueue; /// /// State -- /// Internal tracking state of a tracked object /// /// Possible state transitions: /// @verbatim /// .-> Alive <--> Zombie -, /// Born -| |-> Dead /// '----------------------' @endverbatim enum State { 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 }; /// /// Init -- /// Setup tracked object data /// gml_TError Init ( gml_TArray<Float32>& features, gml_TArray<Float32>& weights, gml_TArray<Float32>& stability, EventQueue& queue, ///< where to push the events UInt64 startDelay = sDefaultStartDelay(), ///< see fStartDelay UInt64 ttlDelay = sDefaultTTLDelay() ///< see fTTLDelay ); /// /// Dispose -- /// void Dispose (UInt64 time); /// /// Update -- /// 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, ///< since when (in nanoseconds) ? UInt64 time, ///< the current timestamp (nanoseconds) gml_TArray<Float32>& features ///< the current object features (or an empty vector) ); /// /// Update -- /// 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) /// gml_TError Update ( UInt64 gap, ///< since when (in nanoseconds) ? UInt64 time ///< the current timestamp (nanoseconds) ); /// /// GetState -- /// Return the current state of the tracked object /// State GetState () { return fState; } /// /// Distance -- /// /// Return the distance to another set of features. /// May return 0 or FLT_MAX. /// Float32 Distance (gml_TArray<Float32>& otherFeatures); /// /// Bracket Operator -- /// /// Inspect feature values. /// Float32 operator[] (unsigned k) { return fFeatures[k]; } protected: 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 public: // errors static gml_TError sErrorBadState; // defaults static UInt64 sDefaultStartDelay() { return (UInt64) 150e6; } ///< default for fStartDelay static UInt64 sDefaultTTLDelay() { return (UInt64) 250e6; } ///< default for fTTLDelay static Float32 sDefaultStaticStability() { return 1.0F; } ///< default for fStaticStability protected: // setup static void ClassInit (); ///< class setup static bool sModuleInited; ///< was ClassInit() called ? // feature update void UpdateFeatures (gml_TArray<Float32>& newFeatures); }; #endif /* __GML_TRACKED_OBJECT__ */ Generated on Tue Jun 12 14:03:28 2007 for gml by Doxygen 1.5.2.

Contact: julien (dot) letessier (at) gmail (dot) com. Copyright (c) 2000-2007 CLIPS-IMAG Laboratory, Grenoble, France. All rights reserved. W3CXHTML 1.0 W3CCSS 2.0