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Fall '04 project content and layout

Using an object oriented design I have seperated the code into seperate objects based on functionality and interactivity. This way the different components of the program can be tweaked and modified individually without needing to make changes to any other parts of the code. This explanation will be a general and high level walk through of the code and data structures used within.

In the program, the main knows very little about the actual internal workings of the individual classes. It is limited to calling and using the objects as needed. The main contains the information which controls the movement of the PTZ (Pan-Tilt Zoom) camera. Depending on which target object is being focused on at the time, the camera will be set to track and follow that object as it moves across the screen. Currently the objects being tracked are not objects from live video; the objects are dots on the screen moving in a seemingly random pattern. When the PTZ camera moves, it does send back live video, but for now the focus is on making sure the camera is keeping up with and correctly following the movement commands it is given. The main contains the target objects, which we will get into in more detail about later, that move about the screen in semi-illusive patterns so the Kalman filters will have something more interesting to follow than straight lines. The main also contains a measurementData object, of which the details will be explianed later, that it uses to tell the camera what to look at and where it is. The measurementData object which resides in the main is a temporary variable that will contain a copy of the data of one target object or another depending on which one is being focused on at the time.

The SPU-Toolbox is used to control the movements of the camera. The commands are simple but effective enough to do what needs to be done for now. Using the pan-to and tilt-to commands, the camera can be positioned to where it needs to be to effectively monitor the different objects. By using a network camera the SPU-Toolbox is able to remotly monitor and control the camera which in turn gives this program the freedom to control the camer a remotely.

The targets themselves contain information about their x and y coordinates, x and y velocities, and x and y accelerations. Using two different trig functions and manipulating the values listed above is what gives the targets their seemingly-illusive patterns. The targets each contain a Kalman filter that is used to track their movements based on the informaion contained in the variable named measurementData, which has its values set to the values of the target each time it is told to do so.

The actual Kalman class the program uses, which is accessed via the targets, contains the values of three different coordinates and three different DataModels (which is the type of ojbect measurementData is). The coordinates and the DataModels are paired. There is a state coordinate and a stateData, a prediction coordinate, and a predictionData, and a measurement coordinate and a measurementData. The stateData and measurementData objects get their data from the Kalman filter that lies within the Kalman class. The Kalman filter is a built in feature of the OpenCV software which contains all the formulae needed for the filter to opperate. The Kalman class both gives the Kalman filter the data it needs to do its job and also utilizes the resulting information. The values for the predictionData object are set only when the predict command is called. When the predict command is called, the predictionData values are set based on the information provided by the Kalman filter. The Kalman class also contains functions to draw the coordinates of the state, measurement, and predict points onto the screen when necessary. The other two opperations the Kalman class can perform are reseting the values of the Kalman filter (which is needed when the filter is first initialized) and correcting the values of the noisy measurement taken previously. Again, the main objective of the Kalman class is to give the Kalman filter the information it needs and get from it the information needed to properly track objects as needed.

The main data structure of the program is the DataModel. The DataModel class is what is being used almost every time two different classes or objects need to send and recieve information between each other. This class contains pointers to some of the information contained in the Kalman filters or the information in the target objects. This class holds no informatin of its own, its job is to model all the necessary data so all the different classes can access and manipulate it as needed. There is a pointer to the x and y positions and velocities and a pointer to an array wich holds the same four values. The only opperations that are performed by this class are the sets and gets for these four values and a function to set all these values in one command.

The different classes in the program interact to produce a program that can accurately track multiple objects in real time, moving in unpredictable patterns while only focusing on one of the objects at a time. The main class contains multiple target objects, each of which have a Kalman class attached to them. The main will display the Kalman filter information from whichever target is being focused on at the time. When this information is being displayed the main will direct the camera to follow the motions of the Kalman filter. Because every target being tracked has their own Kalman filter associated with it and that filter is constantly being updated weather the information for that particular filter is being displayed or not, the program is able to accurately track multiple objects without the need to be focused on all of the objects at the same time.


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