KilobotTracker Class Reference

The KilobotTracker class. More...

#include <kilobottracker_copy.h>

Inheritance diagram for KilobotTracker:

Public Slots
void	LOOPstartstop (int stage)
	startLoop This slot is the target of the timeout on the QTimer tick, and fetches warped images from the thread buffers and stitches them
void	LOOPiterate ()
	iterateTracker Use the existing feature matches to stitch the images and track the kilobots
void	SETUPloadCalibration ()
	loadCalibration Load the calibration matrices from an OpenCV FileStorage format
bool	RUNcapture ()
void	SETUPfindKilobots ()
	findKilobots Find the locations of Kilobots in the stitched image
void	identifyKilobots ()
	identifyKilobots Find out what IDs the Kilobots have
void	updateCropPoints (QRect cropRect)
QSize	getImageSize ()
void	drawCircle (QPointF pos, float r, QColor col, int thickness=2, std::string text="", bool transparent=false)
void	drawLine (std::vector< cv::Point > pos, QColor col, int thickness=2, std::string text="", bool transparent=false)
void	clearDrawings ()
void	drawCircleOnRecordedImage (QPointF pos, float r, QColor col, int thickness=2, std::string text="")
void	clearDrawingsOnRecordedImage ()
void	saveImage (QString file)
void	saveVideoFrames (QString file, unsigned int numofframes)
void	setSourceType (bool val)
void	setKbMin (int val)
void	setKbMax (int val)
void	setCannyThresh (int val)
void	setHoughAcc (int val)
void	setKbLMin (int val)
void	setKbLMax (int val)
void	setLEDCannyThresh (int val)
void	setLEDHoughAcc (int val)
void	setLowRLED (int val)
void	setLowGLED (int val)
void	setLowBLED (int val)
void	setHiRLED (int val)
void	setHiGLED (int val)
void	setHiBLED (int val)
void	setHeightXSlider (int val)
void	setHeightYSlider (int val)
void	manuallyassignID (QPoint position)
void	setVideoDir (QString dir)
	setVideoDir
void	updateKilobotStates ()
void	getInitialKilobotStates ()
void	setTrackingType (int t_type)
void	updateExperimentBroadcastingState (bool BroadcastingState)
void	showIds (bool toggle)
	showIds
void	detectred (bool toggle)
void	detectgreen (bool toggle)
void	detectblue (bool toggle)
void	manualIDassignment (bool toggle)
void	enableRuntimeIdentification (bool toggle)
void	maxIDtoTry (QString maxIdStr)
void	setManualID (QString manID)
void	setFlipangle (double angle)
void	RefreshDisplayedImage ()
	RefreshDisplayedImage Refresh the displayed image on the GUI.
void	LOOPstartstop (int stage)
	startLoop This slot is the target of the timeout on the QTimer tick, and fetches warped images from the thread buffers and stitches them
void	LOOPiterate ()
	iterateTracker Use the existing feature matches to stitch the images and track the kilobots
void	SETUPloadCalibration ()
	loadCalibration Load the calibration matrices from an OpenCV FileStorage format
bool	RUNcapture ()
void	SETUPfindKilobots ()
	findKilobots Find the locations of Kilobots in the stitched image
void	identifyKilobots ()
	identifyKilobots Find out what IDs the Kilobots have
void	updateCropPoints (QRect cropRect)
QSize	getImageSize ()
void	drawCircle (QPointF pos, float r, QColor col, int thickness=2, std::string text="", bool transparent=false)
void	drawLine (std::vector< cv::Point > pos, QColor col, int thickness=2, std::string text="", bool transparent=false)
void	clearDrawings ()
void	drawCircleOnRecordedImage (QPointF pos, float r, QColor col, int thickness=2, std::string text="")
void	clearDrawingsOnRecordedImage ()
void	saveImage (QString file)
void	saveVideoFrames (QString file, unsigned int numofframes)
void	setSourceType (bool val)
void	setKbMin (int val)
void	setKbMax (int val)
void	setCannyThresh (int val)
void	setHoughAcc (int val)
void	setKbLMin (int val)
void	setKbLMax (int val)
void	setLEDCannyThresh (int val)
void	setLEDHoughAcc (int val)
void	setLowRLED (int val)
void	setLowGLED (int val)
void	setLowBLED (int val)
void	setHiRLED (int val)
void	setHiGLED (int val)
void	setHiBLED (int val)
void	setHeightXSlider (int val)
void	setHeightYSlider (int val)
void	manuallyassignID (QPoint position)
void	setVideoDir (QString dir)
	setVideoDir
void	updateKilobotStates ()
void	getInitialKilobotStates ()
void	setTrackingType (int t_type)
void	updateExperimentBroadcastingState (bool BroadcastingState)
void	showIds (bool toggle)
	showIds
void	detectred (bool toggle)
void	detectgreen (bool toggle)
void	detectblue (bool toggle)
void	manualIDassignment (bool toggle)
void	enableRuntimeIdentification (bool toggle)
void	maxIDtoTry (QString maxIdStr)
void	setManualID (QString manID)
void	setFlipangle (double angle)
void	RefreshDisplayedImage ()
	RefreshDisplayedImage Refresh the displayed image on the GUI.

Signals
void	errorMessage (QString)
	errorMessage Qt signal to update the UI message QLabel
void	setStitchedImage (QPixmap)
void	capturedImage (cv::Mat)
void	identifyKilo (uint8_t)
void	broadcastMessage (kilobot_broadcast)
void	clearMsgQueue ()
void	startExperiment (bool)
void	stopExperiment ()
void	toggleExpButton (int)
void	activateExpButtons (int)
void	setRuntimeIdentificationLock (bool)
void	kiloList (QVector< Kilobot * >)
void	circlesToDrawSig (QVector< drawnCircle >)
void	errorMessage (QString)
	errorMessage Qt signal to update the UI message QLabel
void	setStitchedImage (QPixmap)
void	capturedImage (cv::Mat)
void	identifyKilo (uint8_t)
void	broadcastMessage (kilobot_broadcast)
void	clearMsgQueue ()
void	startExperiment (bool)
void	stopExperiment ()
void	toggleExpButton (int)
void	activateExpButtons (int)
void	setRuntimeIdentificationLock (bool)
void	kiloList (QVector< Kilobot * >)
void	circlesToDrawSig (QVector< drawnCircle >)

Public Member Functions
	KilobotTracker (QPoint smallImageSize=QPoint(300, 300), QObject *parent=0)
	KilobotTracker (QPoint smallImageSize=QPoint(300, 300), QObject *parent=0)

Public Attributes
KilobotExperiment *	expt
int	dummyVar2000 = 1000
int	kbMinSize = 8
int	kbMaxSize = 12
int	houghAcc = 13
int	cannyThresh = 90
int	kbLEDMinSize = kbMinSize/7
int	kbLEDMaxSize = kbMinSize*10/7
int	LEDhoughAcc = houghAcc
int	LEDcannyThresh = cannyThresh
int	maxIDtoCheck = 100
uint	manualID
int	height_x_adj = 10
int	height_y_adj = 10
float	redLThreshold = 0.75
float	redHThreshold = 0.0
float	greenLThreshold = 0.56
float	greenHThreshold = 0.75
float	blueLThreshold = 0.65
float	blueHThreshold = 0.0
QList< Vec3f >	detectedCircles
bool	debugBool = false
float	morfiTrack_maxDisplacement = 12.0
float	EFWL = 2.0
float	smooth_fact = 0.5
bool	drawDebugBool = false

Detailed Description

The KilobotTracker class.

This class contains the code that tracks Kilobots in the live camera or offline video feeds.

Member Function Documentation

LOOPiterate

void KilobotTracker::LOOPiterate ( )

slot

iterateTracker Use the existing feature matches to stitch the images and track the kilobots

determine if executing the runtime-identification (RTI)

LOOPstartstop

void KilobotTracker::LOOPstartstop ( int stage )

slot

startLoop This slot is the target of the timeout on the QTimer tick, and fetches warped images from the thread buffers and stitches them

@Salah: check if the compensator and blender is ever used

setVideoDir [1/2]

void KilobotTracker::setVideoDir ( QString dir )

inlineslot

setVideoDir

Parameters

dir	Set the path to video files for tracking

setVideoDir [2/2]

void KilobotTracker::setVideoDir ( QString dir )

inlineslot

setVideoDir

Parameters

dir	Set the path to video files for tracking

showIds [1/2]

void KilobotTracker::showIds ( bool toggle )

inlineslot

showIds

Parameters

toggle

Accessor to allow drawing of KiloBot IDs

showIds [2/2]

void KilobotTracker::showIds ( bool toggle )

inlineslot

showIds

Parameters

toggle

Accessor to allow drawing of KiloBot IDs

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

• tracker/kilobottracker_copy.h
• tracker/robottracker.h
• tracker/kilobottracker_copy.cpp
• tracker/robottracker.cpp