PuzzlePerceiver Class Reference

Perceiver based on glove and work scene/mat detection models. More...

Inheritance diagram for PuzzlePerceiver:

Collaboration diagram for PuzzlePerceiver:

Public Member Functions
def	__init__ (self, perCfg=None, perInst=None)
	Constructor for a PuzzlePerceiver. More...
def	adapt (self)
	Adapt parts of the process based on measurements and corrections. More...
def	correct (self)
	Correct the estimated state based on measured and predicted. More...
def	detect (self)
def	display_cv (self, I, ratio=None, window_name="puzzle pieces")
def	emptyDebug (self)
def	emptyState (self)
	Return empty puzzle scene state information. More...
def	getDebugState (self)
def	getState (self)
	Get puzzle scene state information. More...
def	measure (self, I)
	Recover track point or track frame based on detector + trackPointer output. More...
def	predict (self)
	Predict next measurement, if applicable. More...
def	process (self, I)
	Run the tracking pipeline for one step/image measurement. More...
Public Member Functions inherited from Perceiver
def	__init__ (self, theParams, theDetector, theTracker, trackFilter)
	Constructor for the Perceiver class. More...
def	displayDebug (self, fh, dbState)
	Display the debug state of the Perceiver. More...
def	displayState (self, dState=None)
	Display the current state of the Perceiver. More...
def	free (self)
def	get (self, fname)
	Get the state or parameters of the tracker. More...
def	info (self)
	Return the information structure used for saving or otherwise determining the tracker setup for reproducibility. More...
def	set (self, fname, fval)
	Set the state or parameters of the rigid body tracker. More...
def	setState (self, nstate)
	Sets the state of the tracker. More...

Public Attributes
	haveObs
	haveRun
	haveState
	tMeas
Public Attributes inherited from Perceiver
	detector
	The detector instance to use. More...
	filter
	The track filter to use. More...
	haveObs
	Was an observation measured? - e.g. More...
	haveRun
	Has not been run before. More...
	haveState
	Do we have a state estimate? - e.g. More...
	I
	Image passed for processing. More...
	params
	Perceiver runtime parameters. More...
	tMeas
	The last measured track state of the target. More...
	tPts
	Track points. More...
	tracker
	The track pointer to use. More...

Additional Inherited Members
Static Public Member Functions inherited from Perceiver
def	displayFull (cstate, dispArgs)
	Fill rigid body display routine. More...
def	displaySimple (cstate, dispArgs)
	Basic rigid body display routine. More...

Detailed Description

Perceiver based on glove and work scene/mat detection models.

Usually the detectors will ignore the robot arm and even parts of the human arm. They act as nusiance elements to the perceiver and subsequent processing, which should be cognizant of that fact.

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
			perCfg = None,
			perInst = None
	)

Constructor for a PuzzlePerceiver.

Parameters

[in]	perCfg	Perceiver configuration.
[in]	perInst	Perceiver component instances, if already created.

Member Function Documentation

adapt()

def adapt

(

self

)

Adapt parts of the process based on measurements and corrections.

Reimplemented from Perceiver.

correct()

def correct

(

self

)

Correct the estimated state based on measured and predicted.

Reimplemented from Perceiver.

detect()

def detect

(

self

)

display_cv()

def display_cv	(		self,
			I,
			ratio = None,
			window_name = "puzzle pieces"
	)

emptyDebug()

def emptyDebug

(

self

)

emptyState()

def emptyState

(

self

)

Return empty puzzle scene state information.

Reimplemented from Perceiver.

getDebugState()

def getDebugState

(

self

)

getState()

def getState

(

self

)

Get puzzle scene state information.

For the puzzle state, we've got the detector information, the hand/glove track state, and the puzzle piece track states. Let's package them all up as best as possible.

Reimplemented from Perceiver.

measure()

def measure	(		self,
			I
	)

Recover track point or track frame based on detector + trackPointer output.

Parameters

[in]

I

Image for generating perceived measurement.

Reimplemented from Perceiver.

predict()

def predict

(

self

)

Predict next measurement, if applicable.

Reimplemented from Perceiver.

process()

def process	(		self,
			I
	)

Run the tracking pipeline for one step/image measurement.

Parameters

[in]

I

The image to process.

Reimplemented from Perceiver.

Member Data Documentation

haveObs

haveObs

haveRun

haveRun

haveState

haveState

tMeas

tMeas

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

• /home/mary/python/Surveillance/Surveillance/layers/PuzzleScene.py