KFBallTracker Class Reference

Contains most of the logic for live-tracking objects. More...

#include <KFBallTracker.hpp>

Inheritance diagram for KFBallTracker:

Collaboration diagram for KFBallTracker:

Public Slots
void	setClipShape (QPolygonF shape)
	Set the clipping shape for tracking.
void	toggleClip (bool clip)
	Set whether we should clip tracking.

Signals
void	ballSpotted (TrackingBall)
	Emit a TrackingBall when a ball is spotted in the frame.
void	ballPredicted (KFPrediction)
	Emit a KFPrediction when the KF makes a prediction about the ball location.
void	ballLost ()
	Emitted when the ball is lost.
void	personSpotted (QRect)
	Emitted when a person is spotted; unused.
void	threshReady (const cv::Mat &, enum ColorSpace)
	Emitted when a thresh image is ready to be converted.
void	contourReady (const cv::Mat &, enum ColorSpace)
	Emitted when a contour image is ready to be converted.
void	blurReady (const cv::Mat &, enum ColorSpace)
	Emitted when a blur image is ready to be converted.

Public Member Functions
	KFBallTracker (QObject *parent=0)
	Default constructor.
QMap< double, TrackingBall >	processNextFrame (cv::Mat &frame, int t)
	Process the next frame, possibly finding balls and updating state.
void	updateTimeState (double t)
	Update the internal time state of the tracker.
double	kalmanDistance (cv::Mat measurement)
	Kalman distance; see BallFilter.kalmanDistance(); unused. More...
void	setBlurSize (double blurSize)
	Set mBlurSize.
void	setThreshVal (double thresh)
	Set mThreshVal.
void	setMinRadius (double radius)
	Set mMinRadius.
void	setMaxRadius (double radius)
	Set mMaxRadius.
void	setXYCovariance (double sigma)
	Set the covariance of x and y values of ball for KF.
void	setGravConstant (double g)
	Set the acceleration due to gravity of the mBallFilter.

Protected Member Functions
QList< cv::Rect >	findPeople (cv::Mat &frame)
	Find people in a frame; unused. More...
QMap< double, TrackingBall >	findBalls (cv::Mat &frame, QList< cv::Rect > ignores)
	Find balls in a frame, ignoring the region ignores.
QMap< double, TrackingBall >	findMovementThresh (cv::Mat threshDiff, QList< cv::Rect > ignores)
	Find any movement in a thresholded image, ignoring the region ignores.
void	updateTrackFailure ()
	Called to alert that we did not find a ball in this frame.
void	updateTrackSuccess (TrackingBall ball)
	Called to alert that we found ball ball in this frame.
bool	ballIsLost ()
	Whether the ball is currently lost.
bool	ballFound ()
	Whether we currently are tracking a found ball.
void	updateFrameState (cv::Mat *frame)
	Update the internal state of the frame.
double	scoreContour (TrackingBall ball, cv::Mat &threshDiff)
	Given a TrackingBall ball in threshDiff, score its likelihood to be our tracking ball.

Private Attributes
int	mBlobRad
	Unused.
int	mLatency
	Unused.
BallTrackingFilter	mBallFilter
	Tracking filter for ball objects in the frame.
PersonTrackingFilter	mPersonFilter
	Tracking filter for people in the frame (to ignore!); unused.
QVector< cv::Mat >	mFrameHistory
	History of frames possibly used for tracking (eg 3-way-diff)
cv::Mat	mOldDiff
	Previous frame diff of history (stored to avoid a duplicate diff)
double	mBlurSize
	Strength of the Gaussian blur in the blur step of preprocessing.
double	mThreshVal
	Minimum white value for the thresholding step.
double	mMinRadius
	Minimum radius of blobs to consider.
double	mMaxRadius
	Maximum radius of blobs to consider.
QPolygonF	mClipShape
	If mClipTrack, only consider blobs within this polygon.
bool	mClipTrack = false
	Whether to only consider blobs in mClipShape.

Detailed Description

Contains most of the logic for live-tracking objects.

Recieves a frame (as cv::Mat) and uses it (and its own internal state) to identify a moving projectile ball and emit them (as TrackingBall and as KFPrediction)

Member Function Documentation

QList< cv::Rect > KFBallTracker::findPeople ( cv::Mat &  frame )

protected

Find people in a frame; unused.

double KFBallTracker::kalmanDistance

(

cv::Mat

measurement

)

Kalman distance; see BallFilter.kalmanDistance(); unused.

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

• KFBallTracker.hpp
• KFBallTracker.cpp