org.myrobotlab.service

Class Tracking2

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.Tracking2

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, QueueReporter

public class Tracking2
extends Service

Tracking - This service connects to the video stream from Vision It then uses LK tracking for a point in the video stream. As that point moves the x and y servos that are attached to a camera will move to keep the point in the screen. (controlling yaw and pitch.)

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
long	cnt
ServoController	controller
Point2Df	lastPoint
long	latency
java.lang.String	LKOpticalTrackFilterName
static org.slf4j.Logger	log
Vision	opencv
Pid	pid
java.util.ArrayList<OpenCVFilter>	preFilters
static java.lang.String	STATE_FACE_DETECT
static java.lang.String	STATE_IDLE
static java.lang.String	STATE_LEARNING_BACKGROUND
static java.lang.String	STATE_LK_TRACKING_POINT
static java.lang.String	STATE_NEED_TO_INITIALIZE
static java.lang.String	STATE_SEARCH_FOREGROUND
static java.lang.String	STATE_SEARCHING_FOREGROUND
static java.lang.String	STATE_STABILIZED
static java.lang.String	STATE_WAITING_FOR_OBJECTS_TO_DISAPPEAR
static java.lang.String	STATE_WAITING_FOR_OBJECTS_TO_STABILIZE
static java.lang.String	STATUS_CALIBRATING
int	updateModulus

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
Tracking2(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
void	addPreFilter(OpenCVFilter filter)
void	addTransposeFilter()
void	attach(ServoControl x, ServoControl y)
void	attach(ServoControl servo, java.lang.String axis)
void	attach(Vision opencv)
void	clearPreFilters()
void	clearTrackingPoints()
void	connect(java.lang.String port, int xPin, int yPin)
void	connect(java.lang.String port, int xPin, int yPin, int cameraIndex)
void	faceDetect()
void	findFace()
VisionData	foundFace(VisionData data)
ServoController	getArduino()
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
Vision	getOpenCV()
Pid	getPID()
java.lang.String	getState()
ServoControl	getX()
ServoControl	getY()
boolean	isIdle()
void	learnBackground()
static void	main(java.lang.String[] args)
VisionData	onOpenCVData(VisionData data)
void	publish(java.util.HashMap<java.lang.String,SerializableImage> images)
void	publish(SerializableImage image)
SerializableImage	publishFrame(SerializableImage image)
void	removeFilters()
void	reset()
void	rest()
void	scan()
void	searchForeground()
void	setDefaultPreFilters()
void	setForegroundBackgroundFilter()
void	setIdle()
void	setState(java.lang.String newState)
void	startLKTracking()
void	startService()
void	stopScan()
void	stopTracking()
VisionData	toProcess(VisionData data)
void	trackPoint()
void	trackPoint(java.lang.Double x, java.lang.Double y)
void	trackPoint(int x, int y)
void	updateTrackingPoint(Point2Df targetPoint)
void	waitForObjects(VisionData data)

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

log

public static final org.slf4j.Logger log

preFilters

public transient java.util.ArrayList<OpenCVFilter> preFilters

STATE_LK_TRACKING_POINT

public static final java.lang.String STATE_LK_TRACKING_POINT

See Also:

Constant Field Values

STATE_IDLE

public static final java.lang.String STATE_IDLE

See Also:

Constant Field Values

STATE_NEED_TO_INITIALIZE

public static final java.lang.String STATE_NEED_TO_INITIALIZE

See Also:

Constant Field Values

STATUS_CALIBRATING

public static final java.lang.String STATUS_CALIBRATING

See Also:

Constant Field Values

STATE_LEARNING_BACKGROUND

public static final java.lang.String STATE_LEARNING_BACKGROUND

See Also:

Constant Field Values

STATE_SEARCH_FOREGROUND

public static final java.lang.String STATE_SEARCH_FOREGROUND

See Also:

Constant Field Values

STATE_SEARCHING_FOREGROUND

public static final java.lang.String STATE_SEARCHING_FOREGROUND

See Also:

Constant Field Values

STATE_WAITING_FOR_OBJECTS_TO_STABILIZE

public static final java.lang.String STATE_WAITING_FOR_OBJECTS_TO_STABILIZE

See Also:

Constant Field Values

STATE_WAITING_FOR_OBJECTS_TO_DISAPPEAR

public static final java.lang.String STATE_WAITING_FOR_OBJECTS_TO_DISAPPEAR

See Also:

Constant Field Values

STATE_STABILIZED

public static final java.lang.String STATE_STABILIZED

See Also:

Constant Field Values

STATE_FACE_DETECT

public static final java.lang.String STATE_FACE_DETECT

See Also:

Constant Field Values

pid

public transient Pid pid

opencv

public transient Vision opencv

controller

public transient ServoController controller

updateModulus

public int updateModulus

cnt

public long cnt

latency

public long latency

lastPoint

public Point2Df lastPoint

LKOpticalTrackFilterName

public java.lang.String LKOpticalTrackFilterName

Constructor Detail

Tracking2

public Tracking2(java.lang.String n)
          throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

addPreFilter

public void addPreFilter(OpenCVFilter filter)

clearPreFilters

public void clearPreFilters()

clearTrackingPoints

public void clearTrackingPoints()

faceDetect

public void faceDetect()

findFace

public void findFace()

foundFace

public VisionData foundFace(VisionData data)

getArduino

public ServoController getArduino()

getOpenCV

public Vision getOpenCV()

getState

public java.lang.String getState()

getX

public ServoControl getX()

getPID

public Pid getPID()

getY

public ServoControl getY()

isIdle

public boolean isIdle()

learnBackground

public void learnBackground()

publish

public void publish(java.util.HashMap<java.lang.String,SerializableImage> images)

publish

public void publish(SerializableImage image)

publishFrame

public SerializableImage publishFrame(SerializableImage image)

removeFilters

public void removeFilters()

reset

public void reset()

rest

public void rest()

scan

public void scan()

searchForeground

public void searchForeground()

setDefaultPreFilters

public void setDefaultPreFilters()

addTransposeFilter

public void addTransposeFilter()

setForegroundBackgroundFilter

public void setForegroundBackgroundFilter()

setIdle

public void setIdle()

onOpenCVData

public VisionData onOpenCVData(VisionData data)

setState

public void setState(java.lang.String newState)

startLKTracking

public void startLKTracking()

startService

public void startService()

Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

stopScan

public void stopScan()

stopTracking

public void stopTracking()

toProcess

public VisionData toProcess(VisionData data)

trackPoint

public void trackPoint()

trackPoint

public void trackPoint(java.lang.Double x,
                       java.lang.Double y)

trackPoint

public void trackPoint(int x,
                       int y)

updateTrackingPoint

public final void updateTrackingPoint(Point2Df targetPoint)

waitForObjects

public void waitForObjects(VisionData data)

connect

public void connect(java.lang.String port,
                    int xPin,
                    int yPin)
             throws java.lang.Exception

Throws:

java.lang.Exception

connect

public void connect(java.lang.String port,
                    int xPin,
                    int yPin,
                    int cameraIndex)
             throws java.lang.Exception

Throws:

java.lang.Exception

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data

main

public static void main(java.lang.String[] args)

attach

public void attach(ServoControl servo,
                   java.lang.String axis)

attach

public void attach(ServoControl x,
                   ServoControl y)

attach

public void attach(Vision opencv)