75 BufferedPort<ImageOf<PixelRgb> > imgPort[2];
76 BufferedPort<Bottle> mCUTPort[2];
77 BufferedPort<Bottle> rawInPort[2];
78 BufferedPort<Vector> pftInPort;
87 BufferedPort<Bottle> recMILPort;
91 BufferedPort<Bottle> recMSRPort;
98 unsigned int minMotionBufSize;
99 unsigned int minTrackBufSize;
100 unsigned int maxTrackBufSize;
102 double motionStdThresh;
103 double speedStdThresh;
104 double stereoDistThresh;
106 double rawWaitThresh;
107 double motionWaitThresh;
108 double objectWaitThresh;
111 ImageOf<PixelRgb> *img[2];
112 ImageOf<PixelBgr> tpl;
115 deque<Vector> trackBuffer;
130 deque<Item> buffer[2];
132 map<string,CvPoint> locations;
135 bool getFixation(Bottle &bStereo);
136 bool getMotion(Bottle &bStereo);
137 bool getTrack(Bottle &bStereo);
138 bool getRaw(Bottle &bStereo);
139 bool getObject(
const string &object_name, Bottle &bStereo);
144 void updateLocationsMIL();
145 void updateMotionCUT();
146 void updatePFTracker();
157 lock_guard<mutex> lck(trackMutex);
163 void startTracker(
const Vector &stereo,
const int &side);
173 bool getTarget(Value &type, Bottle &target);