- 1 Introduction
- 2 Class hierarchy
- 3 Edit Settings
- 4 Camera area definition
- 5 NMEA 0183 protocol
- 6 Screenshots
SwisTrack Multi-Camera Client is a client tool to communicate with several SwisTrack instances. It is written in C++ using wxWidgets. Data received by a TCP connection will be merged and synchronized before displaying it on a window. SwisTrack is the server part of the connection and SwisTrack Multi-Camera Client is the client.
Zoom / focus function
You can zoom in and out using the scroll wheel of the mouse. To focus on a specific region click with the right mouse button on that region. The left mouse button is to get several information if clicked on a robot. By clicking the mouse wheel the view will be reset.
We have 10 classes, where "ClientFrame" is the mean one.
|ClientFrame||Defines a new frame type (main class)|
|CommunicationMessage||Creates new messages that can be send to the robots and the SwisTrack instances.|
|CommunicationNMEAInterface||Interface to parse incoming messages and send outgoing messages|
|MapPanel||Responsible for painting the panel|
|Robot||Creates new robots for communication and painting|
|RobotSocketManager||Responsible for the communication between the robots and the SwisTrack Multi-Camera Client|
|SavePosition||If enabled, saves the positions of the robots each separated in a file|
|STClient||Defines the application type|
|SwisTrack||Creates new SwisTrack objects for communication and painting the camera areas|
|SwisTrackSocketManager||Responsible for the communication between the SwisTrack instances and the SwisTrack Multi-Camera Client|
If you select the menu "Edit/Edit settings" a editing window will pop up and you will be able to change the settings. Beware to the syntax, otherwise the program won't run correctly. Lines that begins with "#" are treated like comments.
The proper syntax of the SwisTrack Multi-Camera Client settings is (with example)):
|Type||Adress:port;||Reference point (x,y);||Vector 1 (x,y);||Vector 2 (x,y);||Width, height (w,h);|
Watch that after a type follows always a ":" and else after every entry follows a ";" except for the last one where nothing follows. Have a look on the screenshots for an real example.
Save tracking positions: file syntax
If desired, the movements of the robots can be saved on a "robotX.txt" file (X is the id of the robot). A line per frame will be used. The syntax is the following:
frame number, position in x, position in y, angle
example: 217,0.669787,8.297836, 6.210000
Camera area definition
As seen above we use a reference point with 2 vectors, a width and height for defining a camera area.
NMEA 0183 protocol
Keep in mind that every command is encapsulated in a message with a message header (command) and a list of arguments according to the specific command. Every command begins with a $ and is in capitals.
|$START||None||Initiates the SwisTrack instances and sets the current frame number to 0, but doesn't process anything till $STEP is send.|
|$STOP||None||Stops the current tracking and resets the current frame number to 0.|
|$STEP||None||Indicates to the SwisTrack instances to process a next image frame.|
The program can be paused (not sending $STEP commands any more) and be resumed by the menu commands under "ST controls/Pause tracking" and "ST controls/Resume tracking".
|$PARTICLE||int id, double x, double y, double angle||Every robot recognized on a frame is send separately with these parameters|
|$BEGINFRAME||int frameNb||Indicates that the data that arrives after this command belongs to the frame number send|
|$ENDFRAME||None||Indicates that the current processing frame is completed and finished|
Remark: One or several $PARTICLE commands can only be received between a $BEGINFRAME and a $ENDFRAME command!
|$STATUS||None||Get the current status of the robot (for example: tracking, idle, searching).|
|$POSITION||double position x, double position y||Reset the current position of the robot.|
|$STATUS||string status||Returns its current status.|
Here are some screenshots taken from the SwisTrack Multi-Camera Client: