From a7ea7fb3bddb3253ce0d00064f41d0bc195228ec Mon Sep 17 00:00:00 2001
From: "Patricio A. Vela" <pvela@gatech.edu>
Date: Thu, 14 Nov 2024 11:44:15 -0500
Subject: [PATCH] Updating docs. Adding Correspondences to group.

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-<tr id="row_13_5_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html" target="_self">PieceStatus</a></td><td class="desc"></td></tr>
-<tr id="row_13_5_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1old__template_1_1PuzzleTemplate.html" target="_self">PuzzleTemplate</a></td><td class="desc"></td></tr>
-<tr id="row_13_5_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1old__template_1_1Template.html" target="_self">Template</a></td><td class="desc"></td></tr>
-<tr id="row_13_6_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_6_" class="arrow" onclick="toggleFolder('13_6_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse.html" target="_self">parse</a></td><td class="desc"></td></tr>
-<tr id="row_13_6_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_6_0_" class="arrow" onclick="toggleFolder('13_6_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse_1_1fromLayer.html" target="_self">fromLayer</a></td><td class="desc"></td></tr>
-<tr id="row_13_6_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html" target="_self">FromLayer</a></td><td class="desc">A basic detector class that processes a layered image (or mask and image) detection output. Converts all isolated regions into their own puzzle piece instances </td></tr>
-<tr id="row_13_6_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html" target="_self">ParamPuzzle</a></td><td class="desc"></td></tr>
-<tr id="row_13_6_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_6_1_" class="arrow" onclick="toggleFolder('13_6_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse_1_1fromSketch.html" target="_self">fromSketch</a></td><td class="desc"></td></tr>
-<tr id="row_13_6_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html" target="_self">FromSketch</a></td><td class="desc">What is <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html" title="What is FromSketch??">FromSketch</a>?? </td></tr>
-<tr id="row_13_6_2_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_6_2_" class="arrow" onclick="toggleFolder('13_6_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse_1_1simple.html" target="_self">simple</a></td><td class="desc"></td></tr>
-<tr id="row_13_6_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html" target="_self">Simple</a></td><td class="desc"></td></tr>
-<tr id="row_13_7_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_7_" class="arrow" onclick="toggleFolder('13_7_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parser.html" target="_self">parser</a></td><td class="desc">A basic tracking class that processes a layered image (or mask and image) detection output and generates a model of the puzzle pieces in the scene. Converts all accepted, isolated regions into their own puzzle piece instances </td></tr>
-<tr id="row_13_7_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html" target="_self">boardMeasure</a></td><td class="desc">Puzzle piece board measurement class, based on puzzle piece layer parsing </td></tr>
-<tr id="row_13_7_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html" target="_self">boardPerceive</a></td><td class="desc">A simple perceiver for recovering puzzle pieces from a layer mask and an image. If desired, can do piece association </td></tr>
-<tr id="row_13_7_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html" target="_self">CfgBoardMeasure</a></td><td class="desc">Configuration setting specifier for centroidMulti </td></tr>
-<tr id="row_13_8_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_8_" class="arrow" onclick="toggleFolder('13_8_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1piece.html" target="_self">piece</a></td><td class="desc">Classes for puzzle piece specification or description encapsulation </td></tr>
-<tr id="row_13_8_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1EdgeDes.html" target="_self">EdgeDes</a></td><td class="desc"></td></tr>
-<tr id="row_13_8_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html" target="_self">EdgeDirection</a></td><td class="desc"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html" title="EdgeDirection used to keep track of the direction of edges.">EdgeDirection</a> used to keep track of the direction of edges </td></tr>
-<tr id="row_13_8_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html" target="_self">EdgeType</a></td><td class="desc"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html" title="EdgeType used to keep track of the type of edges.">EdgeType</a> used to keep track of the type of edges </td></tr>
-<tr id="row_13_8_3_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Piece.html" target="_self">Piece</a></td><td class="desc">Bad code here </td></tr>
-<tr id="row_13_8_4_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html" target="_self">PieceStatus</a></td><td class="desc"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html" title="PieceStatus used to keep track of the status of pieces.">PieceStatus</a> used to keep track of the status of pieces </td></tr>
-<tr id="row_13_8_5_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html" target="_self">PuzzleTemplate</a></td><td class="desc">Data class containing puzzle piece information </td></tr>
-<tr id="row_13_8_6_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Regular.html" target="_self">Regular</a></td><td class="desc">A puzzle has <a class="el" href="classpuzzle_1_1piece_1_1Regular.html" title="A puzzle has Regular pieces when they are all of a consistent sizing such that their edge structure c...">Regular</a> pieces when they are all of a consistent sizing such that their edge structure can be compared in a standard North, South, East, West approach </td></tr>
-<tr id="row_13_8_7_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Template.html" target="_self">Template</a></td><td class="desc">Stores and encapsulates a template instance of a visual puzzle piece </td></tr>
-<tr id="row_13_9_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_9_" class="arrow" onclick="toggleFolder('13_9_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces.html" target="_self">pieces</a></td><td class="desc"></td></tr>
-<tr id="row_13_9_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_9_0_" class="arrow" onclick="toggleFolder('13_9_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces_1_1edge.html" target="_self">edge</a></td><td class="desc">Uses edge features to establish similarity </td></tr>
-<tr id="row_13_9_0_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html" target="_self">Edge</a></td><td class="desc">Puzzle piece edge based comparison </td></tr>
-<tr id="row_13_9_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_9_1_" class="arrow" onclick="toggleFolder('13_9_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html" target="_self">matchDifferent</a></td><td class="desc">Sub-classes of this derived class branch use difference scores for determining whether two puzzle pieces match </td></tr>
-<tr id="row_13_9_1_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html" target="_self">CfgDistance</a></td><td class="desc">Configuration setting specifier for distance matcher class </td></tr>
-<tr id="row_13_9_1_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html" target="_self">CfgHistogramCV</a></td><td class="desc">Configuration setting specifier for Histogram puzzle comparator class </td></tr>
-<tr id="row_13_9_1_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html" target="_self">CfgMoments</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity.">Moments</a> class </td></tr>
-<tr id="row_13_9_1_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html" target="_self">CfgPCA</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity.">Moments</a> class </td></tr>
-<tr id="row_13_9_1_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html" target="_self">Distance</a></td><td class="desc">Distance-based puzzle piece matching </td></tr>
-<tr id="row_13_9_1_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html" target="_self">HistogramCV</a></td><td class="desc">OpenCV Histogram puzzle comparator class </td></tr>
-<tr id="row_13_9_1_6_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" target="_self">Moments</a></td><td class="desc">Uses shape moments to establish similarity </td></tr>
-<tr id="row_13_9_1_7_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html" target="_self">PCA</a></td><td class="desc">Uses pca to calculate rotation </td></tr>
-<tr id="row_13_9_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_9_2_" class="arrow" onclick="toggleFolder('13_9_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces_1_1matcher.html" target="_self">matcher</a></td><td class="desc">Classes for comparing puzzle pieces in support of puzzle solving and puzzle piece association. The base-type class and most of its member functions will do nothing. They require overloading. The ones that don't should be for some generic functionality </td></tr>
-<tr id="row_13_9_2_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" target="_self">CfgDifferent</a></td><td class="desc">Configuration setting specifier for difference matcher class </td></tr>
-<tr id="row_13_9_2_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html" target="_self">CfgMatcher</a></td><td class="desc">Configuration setting specifier for puzzle piece matcher class </td></tr>
-<tr id="row_13_9_2_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html" target="_self">CfgSimilar</a></td><td class="desc">Configuration setting specifier for similar matcher class </td></tr>
-<tr id="row_13_9_2_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" target="_self">MatchDifferent</a></td><td class="desc">The puzzle piece matching scores are based on differences. Lower is better </td></tr>
-<tr id="row_13_9_2_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" target="_self">Matcher</a></td><td class="desc">Generic puzzle piece matching class. Actual instances should use similarity of difference matching sub-classes </td></tr>
-<tr id="row_13_9_2_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html" target="_self">MatchSimilar</a></td><td class="desc">Similarity matching </td></tr>
-<tr id="row_13_9_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_9_3_" class="arrow" onclick="toggleFolder('13_9_3_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces_1_1matchSimilar.html" target="_self">matchSimilar</a></td><td class="desc">Sub-classes of this derived class branch use similarity scores for determining wheter two puzzle pieces match </td></tr>
-<tr id="row_13_9_3_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html" target="_self">CfgSIFTCV</a></td><td class="desc">Configuration setting specifier for OpenCV SIFT matcher class </td></tr>
-<tr id="row_13_9_3_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html" target="_self">SIFTCV</a></td><td class="desc">Uses sift features to establish similarity </td></tr>
-<tr id="row_13_9_4_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_9_4_" class="arrow" onclick="toggleFolder('13_9_4_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces_1_1sift.html" target="_self">sift</a></td><td class="desc"></td></tr>
-<tr id="row_13_9_4_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html" target="_self">Sift</a></td><td class="desc"></td></tr>
-<tr id="row_13_10_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_10_" class="arrow" onclick="toggleFolder('13_10_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1runner.html" target="_self">runner</a></td><td class="desc"></td></tr>
-<tr id="row_13_10_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html" target="_self">ParamRunner</a></td><td class="desc"></td></tr>
-<tr id="row_13_10_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html" target="_self">RealSolver</a></td><td class="desc"></td></tr>
-<tr id="row_13_11_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_11_" class="arrow" onclick="toggleFolder('13_11_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1runnerROS.html" target="_self">runnerROS</a></td><td class="desc"></td></tr>
-<tr id="row_13_11_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html" target="_self">RealSolverROS</a></td><td class="desc"></td></tr>
-<tr id="row_13_12_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_12_" class="arrow" onclick="toggleFolder('13_12_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator.html" target="_self">simulator</a></td><td class="desc"></td></tr>
-<tr id="row_13_12_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_12_0_" class="arrow" onclick="toggleFolder('13_12_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator_1_1action.html" target="_self">action</a></td><td class="desc"></td></tr>
-<tr id="row_13_12_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html" target="_self">Actions</a></td><td class="desc"></td></tr>
-<tr id="row_13_12_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_12_1_" class="arrow" onclick="toggleFolder('13_12_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator_1_1basic.html" target="_self">basic</a></td><td class="desc"></td></tr>
-<tr id="row_13_12_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html" target="_self">Basic</a></td><td class="desc"></td></tr>
-<tr id="row_13_12_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1ParamBasic.html" target="_self">ParamBasic</a></td><td class="desc"></td></tr>
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-<tr id="row_13_12_4_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html" target="_self">PlannerHand</a></td><td class="desc"></td></tr>
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-<tr id="row_13_12_5_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html" target="_self">SimTime</a></td><td class="desc"></td></tr>
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-<tr id="row_13_12_6_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html" target="_self">ParamSTL</a></td><td class="desc"></td></tr>
-<tr id="row_13_12_6_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html" target="_self">SimTimeLess</a></td><td class="desc"></td></tr>
-<tr id="row_13_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_13_" class="arrow" onclick="toggleFolder('13_13_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1solver.html" target="_self">solver</a></td><td class="desc"></td></tr>
-<tr id="row_13_13_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_13_0_" class="arrow" onclick="toggleFolder('13_13_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1solver_1_1base.html" target="_self">base</a></td><td class="desc"></td></tr>
-<tr id="row_13_13_0_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html" target="_self">Base</a></td><td class="desc"></td></tr>
-<tr id="row_13_13_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_13_1_" class="arrow" onclick="toggleFolder('13_13_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1solver_1_1simple.html" target="_self">simple</a></td><td class="desc"></td></tr>
-<tr id="row_13_13_1_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html" target="_self">Simple</a></td><td class="desc"></td></tr>
-<tr id="row_13_13_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_13_2_" class="arrow" onclick="toggleFolder('13_13_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1solver_1_1twoAgent.html" target="_self">twoAgent</a></td><td class="desc"></td></tr>
-<tr id="row_13_13_2_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html" target="_self">TwoAgent</a></td><td class="desc"></td></tr>
-<tr id="row_13_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_14_" class="arrow" onclick="toggleFolder('13_14_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1utils.html" target="_self">utils</a></td><td class="desc"></td></tr>
-<tr id="row_13_14_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_14_0_" class="arrow" onclick="toggleFolder('13_14_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html" target="_self">dataProcessing</a></td><td class="desc"></td></tr>
-<tr id="row_13_14_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html" target="_self">copyAttributes</a></td><td class="desc"></td></tr>
-<tr id="row_13_14_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_14_1_" class="arrow" onclick="toggleFolder('13_14_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1utils_1_1pygameProcessing.html" target="_self">pygameProcessing</a></td><td class="desc"></td></tr>
-<tr id="row_13_14_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html" target="_self">TextRectException</a></td><td class="desc"></td></tr>
+<tr id="row_13_4_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_4_" class="arrow" onclick="toggleFolder('13_4_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse.html" target="_self">parse</a></td><td class="desc"></td></tr>
+<tr id="row_13_4_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_4_0_" class="arrow" onclick="toggleFolder('13_4_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse_1_1fromLayer.html" target="_self">fromLayer</a></td><td class="desc"></td></tr>
+<tr id="row_13_4_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html" target="_self">FromLayer</a></td><td class="desc">A basic detector class that processes a layered image (or mask and image) detection output. Converts all isolated regions into their own puzzle piece instances </td></tr>
+<tr id="row_13_4_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html" target="_self">ParamPuzzle</a></td><td class="desc"></td></tr>
+<tr id="row_13_4_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_4_1_" class="arrow" onclick="toggleFolder('13_4_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse_1_1fromSketch.html" target="_self">fromSketch</a></td><td class="desc"></td></tr>
+<tr id="row_13_4_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html" target="_self">FromSketch</a></td><td class="desc">What is <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html" title="What is FromSketch??">FromSketch</a>?? </td></tr>
+<tr id="row_13_4_2_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_4_2_" class="arrow" onclick="toggleFolder('13_4_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parse_1_1simple.html" target="_self">simple</a></td><td class="desc"></td></tr>
+<tr id="row_13_4_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html" target="_self">Simple</a></td><td class="desc"></td></tr>
+<tr id="row_13_5_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_5_" class="arrow" onclick="toggleFolder('13_5_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1parser.html" target="_self">parser</a></td><td class="desc">A basic tracking class that processes a layered image (or mask and image) detection output and generates a model of the puzzle pieces in the scene. Converts all accepted, isolated regions into their own puzzle piece instances </td></tr>
+<tr id="row_13_5_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html" target="_self">boardMeasure</a></td><td class="desc">Puzzle piece board measurement class, based on puzzle piece layer parsing </td></tr>
+<tr id="row_13_5_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html" target="_self">boardPerceive</a></td><td class="desc">A simple perceiver for recovering puzzle pieces from a layer mask and an image. If desired, can do piece association </td></tr>
+<tr id="row_13_5_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html" target="_self">CfgBoardMeasure</a></td><td class="desc">Configuration setting specifier for centroidMulti </td></tr>
+<tr id="row_13_6_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_6_" class="arrow" onclick="toggleFolder('13_6_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1piece.html" target="_self">piece</a></td><td class="desc">Classes for puzzle piece specification or description encapsulation </td></tr>
+<tr id="row_13_6_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1EdgeDes.html" target="_self">EdgeDes</a></td><td class="desc"></td></tr>
+<tr id="row_13_6_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html" target="_self">EdgeDirection</a></td><td class="desc"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html" title="EdgeDirection used to keep track of the direction of edges.">EdgeDirection</a> used to keep track of the direction of edges </td></tr>
+<tr id="row_13_6_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html" target="_self">EdgeType</a></td><td class="desc"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html" title="EdgeType used to keep track of the type of edges.">EdgeType</a> used to keep track of the type of edges </td></tr>
+<tr id="row_13_6_3_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Piece.html" target="_self">Piece</a></td><td class="desc">Bad code here </td></tr>
+<tr id="row_13_6_4_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html" target="_self">PieceStatus</a></td><td class="desc"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html" title="PieceStatus used to keep track of the status of pieces.">PieceStatus</a> used to keep track of the status of pieces </td></tr>
+<tr id="row_13_6_5_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html" target="_self">PuzzleTemplate</a></td><td class="desc">Data class containing puzzle piece information </td></tr>
+<tr id="row_13_6_6_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Regular.html" target="_self">Regular</a></td><td class="desc">A puzzle has <a class="el" href="classpuzzle_1_1piece_1_1Regular.html" title="A puzzle has Regular pieces when they are all of a consistent sizing such that their edge structure c...">Regular</a> pieces when they are all of a consistent sizing such that their edge structure can be compared in a standard North, South, East, West approach </td></tr>
+<tr id="row_13_6_7_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Template.html" target="_self">Template</a></td><td class="desc">Stores and encapsulates a template instance of a visual puzzle piece </td></tr>
+<tr id="row_13_7_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_13_7_" class="arrow" onclick="toggleFolder('13_7_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces.html" target="_self">pieces</a></td><td class="desc"></td></tr>
+<tr id="row_13_7_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_7_0_" class="arrow" onclick="toggleFolder('13_7_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces_1_1edge.html" target="_self">edge</a></td><td class="desc">Uses edge features to establish similarity </td></tr>
+<tr id="row_13_7_0_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html" target="_self">Edge</a></td><td class="desc">Puzzle piece edge based comparison </td></tr>
+<tr id="row_13_7_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_7_1_" class="arrow" onclick="toggleFolder('13_7_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html" target="_self">matchDifferent</a></td><td class="desc">Sub-classes of this derived class branch use difference scores for determining whether two puzzle pieces match </td></tr>
+<tr id="row_13_7_1_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html" target="_self">CfgDistance</a></td><td class="desc">Configuration setting specifier for distance matcher class </td></tr>
+<tr id="row_13_7_1_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html" target="_self">CfgHistogramCV</a></td><td class="desc">Configuration setting specifier for Histogram puzzle comparator class </td></tr>
+<tr id="row_13_7_1_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html" target="_self">CfgMoments</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity.">Moments</a> class </td></tr>
+<tr id="row_13_7_1_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html" target="_self">CfgPCA</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity.">Moments</a> class </td></tr>
+<tr id="row_13_7_1_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html" target="_self">Distance</a></td><td class="desc">Distance-based puzzle piece matching </td></tr>
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-<tr id="row_15_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html" target="_self">CfgCentMulti</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a> </td></tr>
-<tr id="row_15_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_15_2_" class="arrow" onclick="toggleFolder('15_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1toplines.html" target="_self">toplines</a></td><td class="desc"></td></tr>
-<tr id="row_15_2_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1fromBottom.html" target="_self">fromBottom</a></td><td class="desc"></td></tr>
-<tr id="row_15_2_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1fromTop.html" target="_self">fromTop</a></td><td class="desc"></td></tr>
-<tr id="row_15_2_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1Params.html" target="_self">Params</a></td><td class="desc">Parameters for the toplines tracker </td></tr>
-<tr id="row_15_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_15_3_" class="arrow" onclick="toggleFolder('15_3_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1utils.html" target="_self">utils</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_3_0_" class="arrow" onclick="toggleFolder('15_3_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1utils_1_1fakeTriangle.html" target="_self">fakeTriangle</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1utils_1_1fakeTriangle_1_1fakeTriangle.html" target="_self">fakeTriangle</a></td><td class="desc"></td></tr>
-<tr id="row_16_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_16_" class="arrow" onclick="toggleFolder('16_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetriggers.html" target="_self">triggers</a></td><td class="desc"></td></tr>
-<tr id="row_16_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Always.html" target="_self">Always</a></td><td class="desc">Class that always triggers a report </td></tr>
-<tr id="row_16_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1BuildCfgTrigger.html" target="_self">BuildCfgTrigger</a></td><td class="desc">Configuration instance for building a <a class="el" href="classtriggers_1_1Trigger.html" title="Base/abstract trigger class.">Trigger</a> </td></tr>
-<tr id="row_16_2_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1CfgDistTrigger.html" target="_self">CfgDistTrigger</a></td><td class="desc">Configuration instance for a <a class="el" href="classtriggers_1_1Trigger.html" title="Base/abstract trigger class.">Trigger</a> </td></tr>
-<tr id="row_16_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1CfgTrigger.html" target="_self">CfgTrigger</a></td><td class="desc">Configuration instance for a <a class="el" href="classtriggers_1_1Trigger.html" title="Base/abstract trigger class.">Trigger</a> </td></tr>
-<tr id="row_16_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Falling.html" target="_self">Falling</a></td><td class="desc">Class that triggers a report when binary state changes, on falling edge </td></tr>
-<tr id="row_16_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1onChange.html" target="_self">onChange</a></td><td class="desc">Class that triggers a report when the state changes </td></tr>
-<tr id="row_16_6_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1onMatch.html" target="_self">onMatch</a></td><td class="desc">Class that triggers a report when the state matches a target state </td></tr>
-<tr id="row_16_7_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Rising.html" target="_self">Rising</a></td><td class="desc">Class that triggers a report when binary state changes, on rising edge </td></tr>
-<tr id="row_16_8_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Trigger.html" target="_self">Trigger</a></td><td class="desc">Base/abstract trigger class </td></tr>
-<tr id="row_16_9_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenClose.html" target="_self">whenClose</a></td><td class="desc">Class that triggers a report when current state is close to target state </td></tr>
-<tr id="row_16_10_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenDiffers.html" target="_self">whenDiffers</a></td><td class="desc">Class that triggers a report when current state differs from previous state </td></tr>
-<tr id="row_16_11_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenFar.html" target="_self">whenFar</a></td><td class="desc">Class that triggers a report when current state is far fromo target state </td></tr>
-<tr id="row_16_12_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenSimilar.html" target="_self">whenSimilar</a></td><td class="desc">Class that triggers a report when current state is similar to previous state </td></tr>
+<tr id="row_15_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_15_" class="arrow" onclick="toggleFolder('15_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance.html" target="_self">Surveillance</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_15_0_" class="arrow" onclick="toggleFolder('15_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1activity.html" target="_self">activity</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_0_0_" class="arrow" onclick="toggleFolder('15_0_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1activity_1_1base.html" target="_self">base</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_0_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html" target="_self">Base</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_0_1_" class="arrow" onclick="toggleFolder('15_0_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1activity_1_1FSM.html" target="_self">FSM</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_1_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Pick.html" target="_self">Pick</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_1_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Place.html" target="_self">Place</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_0_2_" class="arrow" onclick="toggleFolder('15_0_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1activity_1_1state.html" target="_self">state</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_2_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html" target="_self">Base_state</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_2_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html" target="_self">StateEstimator</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_0_3_" class="arrow" onclick="toggleFolder('15_0_3_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1activity_1_1utils.html" target="_self">utils</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_3_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html" target="_self">DynamicDisplay</a></td><td class="desc"></td></tr>
+<tr id="row_15_0_3_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html" target="_self">ParamDynamicDisplay</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_15_1_" class="arrow" onclick="toggleFolder('15_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1deployment.html" target="_self">deployment</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_1_0_" class="arrow" onclick="toggleFolder('15_1_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1deployment_1_1activity__record.html" target="_self">activity_record</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html" target="_self">ActDecoder</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_1_1_" class="arrow" onclick="toggleFolder('15_1_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html" target="_self">Base</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html" target="_self">BaseSurveillanceDeploy</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_2_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_1_2_" class="arrow" onclick="toggleFolder('15_1_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html" target="_self">ROS</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_15_1_2_0_" class="arrow" onclick="toggleFolder('15_1_2_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html" target="_self">rosbag_runner</a></td><td class="desc"></td></tr>
+<tr id="row_15_1_2_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html" target="_self">ImageListener</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_15_2_" class="arrow" onclick="toggleFolder('15_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers.html" target="_self">layers</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_0_" class="arrow" onclick="toggleFolder('15_2_0_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1base.html" target="_self">base</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_0_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html" target="_self">Base</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_0_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_1_" class="arrow" onclick="toggleFolder('15_2_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1base__bg.html" target="_self">base_bg</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_1_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html" target="_self">Base_bg</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_1_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_2_" class="arrow" onclick="toggleFolder('15_2_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1base__fg.html" target="_self">base_fg</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_2_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html" target="_self">Base_fg</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_2_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_3_" class="arrow" onclick="toggleFolder('15_2_3_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html" target="_self">BlackWorkMat</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_3_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_3_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector.html" target="_self">CfgDetector</a></td><td class="desc">Configuration instance for glove tracking detector </td></tr>
+<tr id="row_15_2_3_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgPuzzlePerceiver.html" target="_self">CfgPuzzlePerceiver</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_15_2_3_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_3_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1InstPuzzlePerceiver.html" target="_self">InstPuzzlePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the Puzzle pieces perceiver </td></tr>
+<tr id="row_15_2_3_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html" target="_self">PuzzlePerceiver</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_4_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_4_" class="arrow" onclick="toggleFolder('15_2_4_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html" target="_self">Glove</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_4_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_4_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html" target="_self">CfgGloveDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_15_2_4_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_4_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html" target="_self">DetectorState</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_4_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGloveDetector.html" target="_self">InstGloveDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_15_2_4_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html" target="_self">InstGlovePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_15_2_4_6_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_4_7_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html" target="_self">TrackPointer</a></td><td class="desc"></td></tr>
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+<tr id="row_15_2_5_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html" target="_self">CalibGloveByColor</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_5_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html" target="_self">CfgGloveDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_15_2_5_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState.html" target="_self">DetectorState</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_5_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html" target="_self">GloveByColor</a></td><td class="desc"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a> detector by color only </td></tr>
+<tr id="row_15_2_5_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html" target="_self">GlovePointer</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_5_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGloveDetector.html" target="_self">InstGloveDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_15_2_5_6_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html" target="_self">InstGlovePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_15_2_5_7_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html" target="_self">PerceiveGloveBC</a></td><td class="desc">Perceiver based on detecting glove by color </td></tr>
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+<tr id="row_15_2_6_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_6_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html" target="_self">CfgHandDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_15_2_6_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_6_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html" target="_self">DetectorState</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_6_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html" target="_self">InstDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_15_2_6_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html" target="_self">InstPerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_15_2_6_6_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_6_7_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html" target="_self">TrackPointer</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_7_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_7_" class="arrow" onclick="toggleFolder('15_2_7_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html" target="_self">HoveringHand</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_7_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_7_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html" target="_self">CfgHandDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_15_2_7_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_7_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html" target="_self">DetStateHand</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_7_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html" target="_self">InstDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_15_2_7_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html" target="_self">InstPerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_15_2_7_6_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_7_7_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html" target="_self">TrackPointer</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_8_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_8_" class="arrow" onclick="toggleFolder('15_2_8_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1human__seg.html" target="_self">human_seg</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_8_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html" target="_self">Human_ColorSG</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_8_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html" target="_self">Human_ColorSG_HeightInRange</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_8_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_9_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_9_" class="arrow" onclick="toggleFolder('15_2_9_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1puzzle__seg.html" target="_self">puzzle_seg</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_9_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Params__Residual.html" target="_self">Params_Residual</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_9_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html" target="_self">Puzzle_Residual</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_10_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_10_" class="arrow" onclick="toggleFolder('15_2_10_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html" target="_self">PuzzleScene</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_10_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
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+<tr id="row_15_2_10_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html" target="_self">Detectors</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_10_3_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState.html" target="_self">DetectorsState</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_10_4_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzlePerceiver.html" target="_self">InstPuzzlePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_15_2_10_5_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html" target="_self">InstPuzzleScene</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_15_2_10_6_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_10_7_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html" target="_self">TrackPointers</a></td><td class="desc"></td></tr>
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+<tr id="row_15_2_11_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_11_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html" target="_self">robot_inRange</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_11_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html" target="_self">robot_inRange_Height</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_12_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_2_12_" class="arrow" onclick="toggleFolder('15_2_12_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1layers_1_1scene.html" target="_self">scene</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_12_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_15_2_12_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html" target="_self">SceneInterpreterV1</a></td><td class="desc"></td></tr>
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+<tr id="row_15_2_13_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html" target="_self">Params_GMM</a></td><td class="desc"></td></tr>
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-<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get and empty state to recover its basic structure.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
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-<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
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-<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pub_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
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-<tr class="separator:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a8333fb44dff3615b489cadfd221c5394 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return empty state.  <a href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
-<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">GloveByColor</a>.</p>
 
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">GloveByColor</a>.</p>
 
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the complete detector state, which involves the states of the individual layer detectors.  <a href="#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<<<<<<< HEAD
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-=======
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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@@ -235,66 +160,11 @@
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-<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pub_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
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-=======
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">Base</a>.</p>
 
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-<p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. </p>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Return current/latest debug state information. </p>
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@@ -645,8 +489,6 @@ <h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a
 
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">Base</a>.</p>
 
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 <p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">Base</a>.</p>
 
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-=======
-<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
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-<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image.  <a href="#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<<<<<<< HEAD
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-<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get and empty state to recover its basic structure.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
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-<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the complete detector state, which involves the states of the individual layer detectors.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<<<<<<< HEAD
-=======
-<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
-<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
-<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
-<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
-<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
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-<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </table><table class="memberdecls">
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@@ -323,11 +219,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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 <h2 class="groupheader">Member Function Documentation</h2>
@@ -350,11 +243,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851
 <p>Adapt the layer detection models. </p>
 <p>This part is tricky as there may be dependencies across the layers in terms of what should be updated and what should not be. Applying simple filtering to establish what pixels should adapt and which ones shouldn't. </p>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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 <p>Apply correction process to the individual detectors. </p>
-<<<<<<< HEAD
 <p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. <br  />
  </p>
 
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>.</p>
-=======
-<p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. </p>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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   </dd>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">Calibrator</a>.</p>
 
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-=======
-<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<<<<<<< HEAD
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-=======
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-<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
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-<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
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-<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
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-<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get and empty state to recover its basic structure.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
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-<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
-<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the complete detector state, which involves the states of the individual layer detectors.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
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-<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 <tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
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@@ -229,15 +143,6 @@
 <tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
 <tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
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-<<<<<<< HEAD
-=======
-<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
-<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
-<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
-<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
-<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
 Public Attributes</h2></td></tr>
@@ -317,11 +222,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db
   </dd>
 </dl>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
 <h2 class="groupheader">Member Function Documentation</h2>
@@ -343,13 +245,10 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851
 
 <p>Adapt the layer detection models. </p>
 <p>Doing nothing. Need to review.</p>
-<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000019">Todo:</a></b></dt><dd>Figure out proper approach here. </dd></dl>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000028">Todo:</a></b></dt><dd>Figure out proper approach here. </dd></dl>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
 <a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
@@ -369,14 +268,10 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699
 </div><div class="memdoc">
 
 <p>Apply correction process to the individual detectors. </p>
-<<<<<<< HEAD
 <p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. <br  />
  </p>
 
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>.</p>
-=======
-<p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. </p>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 
 </div>
 </div>
@@ -415,11 +310,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4
   </dd>
 </dl>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
 <a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
@@ -438,11 +330,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d541
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 </div><div class="memdoc">
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
 <a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
@@ -469,11 +358,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcd
   </dd>
 </dl>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
 <a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
@@ -492,11 +378,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a
       </table>
 </div><div class="memdoc">
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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-=======
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-<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
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-<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
-<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the complete detector state, which involves the states of the individual layer detectors.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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@@ -229,15 +143,6 @@
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 <tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
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-<<<<<<< HEAD
-=======
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-<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
-<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
-<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
-<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
 Public Attributes</h2></td></tr>
@@ -317,11 +222,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db
   </dd>
 </dl>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
 <h2 class="groupheader">Member Function Documentation</h2>
@@ -343,13 +245,10 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851
 
 <p>Adapt the layer detection models. </p>
 <p>Doing nothing. Need to review.</p>
-<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000020">Todo:</a></b></dt><dd>Figure out proper approach here. </dd></dl>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000029">Todo:</a></b></dt><dd>Figure out proper approach here. </dd></dl>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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 </div><div class="memdoc">
 
 <p>Apply correction process to the individual detectors. </p>
-<<<<<<< HEAD
 <p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. <br  />
  </p>
 
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>.</p>
-=======
-<p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. </p>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 
 </div>
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   </dd>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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@@ -469,11 +358,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcd
   </dd>
 </dl>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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   </dd>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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@@ -623,11 +500,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b7
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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-<<<<<<< HEAD
 <p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> to given HDF5 file. </p>
 <p>The save to function writes the necessary information to re-instantiate a Detectors class object to the passed HDF5 file pointer/instance.</p>
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-<<<<<<< HEAD
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-=======
-<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get and empty state to recover its basic structure.  <a href="#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<<<<<<< HEAD
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-=======
-<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the complete detector state, which involves the states of the individual layer detectors.  <a href="#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<<<<<<< HEAD
 <tr class="memdesc:a19b46941fa572f13c44c35eb65d65fee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
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-=======
-<tr class="memdesc:a19b46941fa572f13c44c35eb65d65fee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
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-<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image.  <a href="#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
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-<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<<<<<<< HEAD
 <tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
-=======
-<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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@@ -301,11 +232,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851
 <p>Adapt the layer detection models. </p>
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-<<<<<<< HEAD
 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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 <p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. <br  />
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 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>.</p>
-=======
-<p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. </p>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 
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-<<<<<<< HEAD
 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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   </dd>
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-<<<<<<< HEAD
 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 <p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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-<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the complete detector state, which involves the states of the individual layer detectors.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
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-<tr class="memitem:a016768f0d8e23ac245a1b74b27021608 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
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-<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
-<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
-<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
-<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
-<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
-<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
-<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
-<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated Detector to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
-<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </table><table class="memberdecls">
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@@ -327,11 +224,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db
   </dd>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#acd24f3a10491396e0947eb17e4ccd5fe">Detectors</a>.</p>
 
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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 <h2 class="groupheader">Member Function Documentation</h2>
@@ -354,11 +248,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851
 <p>Adapt the layer detection models. </p>
 <p>This part is tricky as there may be dependencies across the layers in terms of what should be updated and what should not be. Applying simple filtering to establish what pixels should adapt and which ones shouldn't. </p>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">Detectors</a>.</p>
 
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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 <p>Apply correction process to the individual detectors. </p>
-<<<<<<< HEAD
 <p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. <br  />
  </p>
 
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad1017975e2cf3f6aad2eb699e576acfb">Detectors</a>.</p>
-=======
-<p>Apply naive correction on a per detector basis. As a layered system, there might be interdependencies that would impact the correction step. Ignoring that for now since it does not immediately come to mind what needs to be done. </p>
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4b9eb4438bf990362c9afce4a00562e3">Detectors</a>.</p>
 
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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@@ -478,11 +359,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcd
   </dd>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9ee90969e62195d66d515fcdaf56bf6a">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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@@ -501,11 +379,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
 <a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
@@ -532,11 +407,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd9
   </dd>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a18bb39f68bce281f0f163fd96bb09a8c">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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@@ -596,11 +465,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f
   </dd>
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad17eaba369e442d6a16fa52f3cb41762">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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@@ -622,11 +488,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0
 <p>Generate prediction of expected measurement. </p>
 <p>The detectors are mostly going to be static models, which means that prediction does nothing. Just in case though, the prediction methods are called for them. </p>
 
-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4dd85ce87569585c592b0dd0638c0dfd">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
 </div>
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@@ -663,11 +526,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b7
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-<<<<<<< HEAD
 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a15b5b23376c42a855847f9b74cdc07b3">Detectors</a>.</p>
 
-=======
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </div>
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@@ -724,7 +584,6 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285
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 <pre class="fragment">Return a Human_colorSG instance whose detector(targetSG) is built from the input image
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 <p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">Base_fg</a>.</p>
 
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@@ -94,7 +73,6 @@
 
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 <table class="directory">
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   <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1c738de2be2b3952c998256db3960b11">__init__</a>(self, theTracker=None, trackFilter=None, Params_Residual params=Params_Residual())</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a></td><td class="entry"></td></tr>
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-=======
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-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aba339157c963a999b35e75d846ab4404">update_params</a>(self, name, val)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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 The process of taking residual is treated as the roution postprocess
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 <pre class="fragment">The inRange robot segmenter detects the segmenter with the assumption that 
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@@ -94,7 +73,6 @@
 
 <p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html">robot_inRange_Height</a>, including all inherited members.</p>
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   <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#aa55642f4ad76b95326d5e6400e26ebcb">__init__</a>(self, low_th, high_th, HeightEstimator theHeightEstimator=None, tracker=None, trackFilter=None, Params params=Params())</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html">robot_inRange_Height</a></td><td class="entry"></td></tr>
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-=======
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-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad891122446b3ab638326e359c8d3acba">cv_bridge</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aa309581da47912d13c5672e63c854439">dep</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ab22fe71dd45f66656e0e528c786a7fc8">dep_bs</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a075488ae0f6c8cdc22c1e53c639bc5dc">depth_clip</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a840e322ed801b10d63a529e98524199b">depth_dtype</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#abbf2a98f2bfcb7d9679e49ae8667f615">depth_scale</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a23159e0e6997cdd5125fefe42020ad0a">dirname</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#acfe99d230e216901bd782cc580e4e815">dtype</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a04eb5893b5df7a79e0b67a0293b3a74d">empty_table_dep</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a7f568541473042dfbbf1b4cc91565de4">empty_table_dep_bs</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4d6121011456a513401d4c8dbb49d80f">empty_table_dep_path</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aee6a088d434e3dbf2ac4768b6fb0a29d">empty_table_dep_pub</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aa3579a41f4d2b99ddbcacf8fe1f9b554">empty_table_height</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a76c0d5acf55f37eea94b423fe33eb6d6">empty_table_name</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a3375582e8e4b22adf690cb2dadc06b80">empty_table_rgb</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad1a12cf02652b3526ee16292b454f463">empty_table_rgb_path</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afb61fdfbb11042833c07c894d889b021">empty_table_rgb_pub</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a3988de459bf7d3e931749f4cee1d8c95">fgMask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8d7af75abddad0fe5e10e7b1b3b09d6c">fh</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a574732c04d57514f219fc914fdcb54e5">figsize</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a31dff7c69f8415603c5faf779dc2f42d">frame_name</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a572df311cc0cb2af69d68b5cb506620d">frame_saver</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afe107e18903fdb4b99b27bf6e26e5abb">get_layer</a>(self, layer_name, mask_only=False, BEV_rectify=False)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ab7c5cc7c1c708a33c7edea7f26515c29">get_nonROI</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad4795eaddab88da28b99efa8f8c68eea">get_trackers</a>(self, layer_name, BEV_rectify=False)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8f3b0a450874a594458197cf7e220b80">glove_dep</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a9941ec0ae7fd53ee8c6ebb7364aaf1d8">glove_dep_path</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a191a7d3e90b4f7f97b384a4466f165e5">glove_name</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a24581d2b50bd5c1df732e38a3e93a139">glove_rgb</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a1a6ceb1c0b4f757479cfcd9db0a5c873">glove_rgb_path</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a556251fec1f00404af21b7d38a01e998">glove_rgb_pub</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afaafc315b95987fc2b071bcd8f698b81">H</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a64c565a2cc0cfc85135ef038ee478377">hand_wave_vid_name</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a081fc2b137ed3da79eec83e4f03b0fae">hand_wave_vid_path</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a099066a9f34a332c2c55b9d90c075c84">height_estimator</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a59d8ccb066c51a33b09c7c9b52197ee3">height_map</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4532bf032de379a7e3d08e1c56f0c5e1">high_th</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a86eea3ffa9b2745eb0317f43d605e5eb">hTracker</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ac5b4e8285c882db524515204d005f95e">human_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a27814ebb1d79884be91400535a1c523a">human_seg</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a60af43f2054317d5d46e1d7e3b638dbe">human_track_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a391ae499dd18baa6347f202252de6cf5">human_wave_dep_pub</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8b26d3833ef601794641343ddf17cca1">human_wave_rgb_pub</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a88d9bfa38569e9270e71f758f93e7d48">imgSource</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8d53f52811787ac7b91d1fd31f23c5e3">instruction</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#adf2548b502450159132dbc836edf0598">intrinsic</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a07f6a214d4a38f7e5d67991030f129a5">kernel_erode</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a47cd1ff11318c476312db17bdf82b0e9">kernel_refine</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a12d3f793c21450625a0f80a9c5b2d1de">low_th</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a843955d7a15974aa3d7c68c01d4ee631">mask_proc1</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aba5f2eb594ba8e41da46606efa7b66c4">mask_proc2</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4c929e144b06b17fd349cc7601a3c747">measure</a>(self, img)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6b885acab536fa8fb055d945cc24aafb">nonROI_init</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8ed07fc13da4d5014bc1ea327ba24c22">nonROI_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af28ca61b776544cf6c894131e2d034c9">opKey</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
   <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ae7ea0e57263609b9fc86c2f0bde7294b">process</a>(self, img)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
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   <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a1001359200f8455263d6d62807576c0e">puzzle_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
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   <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8d67e91e2daba56e4d497fc13f62cf33">puzzle_seg</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
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-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a70c0156e967c44d78afc245727ed2653">rgb_train</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a06218e1db167ce867d185a75e545a49a">robot_seg</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a26c5353ef7d28d728766839b4239567e">ROI_mask3</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a9e9bd13a08b49f94f18748c32fcacea8">theTracker</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aacf0670a6c7a71d72a1a910cfc7ef096">topics</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#abec0b9ee4648af3b77db73e8070f1736">tracker</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4e60404be734751899afb73dcbbb781d">vis_puzzles</a>(self, mask_only=False, BEV_rectify=True, fh=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad51f390602db67153a103eff095b11a1">vis_scene</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a0a9b52fb6605edc74fd7d5359f34477e">W</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
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->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><pre class="fragment">The scene interpreter will split the scene into three four layers:
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 @param[in]  params              Other parameters
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 <p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html">tabletop_GMM</a>, including all inherited members.</p>
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-=======
-  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#ac775ee34451fdfa742b318538164070e">__init__</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html">tabletop_GMM</a></td><td class="entry"></td></tr>
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 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
+<li>/home/mary/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
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 <!-- start footer part -->
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 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
+<li>/home/mary/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
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 <hr/>The documentation for this class was generated from the following file:<ul>
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+<li>/home/mary/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
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 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
+<li>/home/mary/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
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 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
+<li>/home/mary/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
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 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
+<li>/home/mary/python/perceiver/perceiver/reports/<a class="el" href="channels_8py.html">channels.py</a></li>
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+<p>Reimplemented in <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a418793636fd792a2b17e86fc767ccb78">CfgCorrespondences</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a418793636fd792a2b17e86fc767ccb78">CfgPCA</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a418793636fd792a2b17e86fc767ccb78">CfgMoments</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a418793636fd792a2b17e86fc767ccb78">CfgSimilar</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1CfgInCorner.html#a418793636fd792a2b17e86fc767ccb78">CfgInCorner</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">CfgDifferent</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a418793636fd792a2b17e86fc767ccb78">CfgHistogramCV</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGCone.html#a418793636fd792a2b17e86fc767ccb78">CfgSGCone</a>, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgHandDetector</a>, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgHandDetector</a>, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgGloveDetector</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgGloveDetector</a>, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a418793636fd792a2b17e86fc767ccb78">CfgPuzzleScene</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1CfgGMM__cv.html#a418793636fd792a2b17e86fc767ccb78">CfgGMM_cv</a>, <a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#a418793636fd792a2b17e86fc767ccb78">CfgBoardMeasure</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a418793636fd792a2b17e86fc767ccb78">CfgSIFTCV</a>, <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a418793636fd792a2b17e86fc767ccb78">CfgCentroind</a>, <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a418793636fd792a2b17e86fc767ccb78">CfgCentMulti</a>, <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a418793636fd792a2b17e86fc767ccb78">CfgArrangement</a>, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a418793636fd792a2b17e86fc767ccb78">CfgGridded</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">CfgMatcher</a>, <a class="el" href="classbyMotion_1_1CfgMoving.html#a418793636fd792a2b17e86fc767ccb78">CfgMoving</a>, <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">CfgAdjacent</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a418793636fd792a2b17e86fc767ccb78">CfgDistance</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGM.html#a418793636fd792a2b17e86fc767ccb78">CfgSGM</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a418793636fd792a2b17e86fc767ccb78">CfgInterlocking</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1CfgOnWS.html#a418793636fd792a2b17e86fc767ccb78">CfgOnWS</a>.</p>
 
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 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
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@@ -222,7 +224,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851
 <p>Adapt any internal parameters based on activity state, signal, and any other historical information. </p>
 <p><a class="el" href="classdetector_1_1base_1_1Base.html" title="Base or root implementation of detector class.">Base</a> method does not have adaptation. Should be customized to the implementation of the class. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a72fbf2f30085967560d93851fdf9fe6b">bgConical</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#a72fbf2f30085967560d93851fdf9fe6b">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a72fbf2f30085967560d93851fdf9fe6b">bgGaussian</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a72fbf2f30085967560d93851fdf9fe6b">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a72fbf2f30085967560d93851fdf9fe6b">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a72fbf2f30085967560d93851fdf9fe6b">onWorkspace</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#a72fbf2f30085967560d93851fdf9fe6b">bgmodelGMM</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a72fbf2f30085967560d93851fdf9fe6b">fromState</a>, and <a class="el" href="classbyRegion_1_1Planar.html#a72fbf2f30085967560d93851fdf9fe6b">Planar</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a72fbf2f30085967560d93851fdf9fe6b">bgConical</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#a72fbf2f30085967560d93851fdf9fe6b">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a72fbf2f30085967560d93851fdf9fe6b">bgGaussian</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a72fbf2f30085967560d93851fdf9fe6b">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a72fbf2f30085967560d93851fdf9fe6b">bgmodelGMM_cv</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">GloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a72fbf2f30085967560d93851fdf9fe6b">onWorkspace</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#a72fbf2f30085967560d93851fdf9fe6b">bgmodelGMM</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a72fbf2f30085967560d93851fdf9fe6b">fromState</a>, and <a class="el" href="classbyRegion_1_1Planar.html#a72fbf2f30085967560d93851fdf9fe6b">Planar</a>.</p>
 
 </div>
 </div>
@@ -245,7 +247,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699
 <p>Reconcile prediction and measurement as fitting. </p>
 <p>Correct state based on measurement and prediction states. <a class="el" href="classdetector_1_1base_1_1Base.html" title="Base or root implementation of detector class.">Base</a> method does not have correction. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ad1017975e2cf3f6aad2eb699e576acfb">bgGaussian</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#ad1017975e2cf3f6aad2eb699e576acfb">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ad1017975e2cf3f6aad2eb699e576acfb">onWorkspace</a>, <a class="el" href="classbyRegion_1_1Planar.html#ad1017975e2cf3f6aad2eb699e576acfb">Planar</a>, and <a class="el" href="classdetector_1_1fromState_1_1fromState.html#ad1017975e2cf3f6aad2eb699e576acfb">fromState</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ad1017975e2cf3f6aad2eb699e576acfb">bgGaussian</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#ad1017975e2cf3f6aad2eb699e576acfb">fgGaussian</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">GloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ad1017975e2cf3f6aad2eb699e576acfb">onWorkspace</a>, <a class="el" href="classbyRegion_1_1Planar.html#ad1017975e2cf3f6aad2eb699e576acfb">Planar</a>, and <a class="el" href="classdetector_1_1fromState_1_1fromState.html#ad1017975e2cf3f6aad2eb699e576acfb">fromState</a>.</p>
 
 </div>
 </div>
@@ -278,7 +280,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8333fb44dff3615b489cadfd
 <p>Run detection only processing pipeline (no adaptation). </p>
 <p>Good to have if there is a calibration scheme that uses adaptation, then freezes the parameters during deployment. Running detect rather than process prevents further model updating while still running the rest of the process in a single call. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2bbb50d8c85e39e051675be235b4eeac">fromState</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#af900d1f3aa432a649c1fa2bcc276c414">bgmodelGMM_cv</a>.</p>
+<p>Reimplemented in <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2bbb50d8c85e39e051675be235b4eeac">fromState</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#af900d1f3aa432a649c1fa2bcc276c414">bgmodelGMM_cv</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">CalibGloveByColor</a>, and <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">GloveByColor</a>.</p>
 
 </div>
 </div>
@@ -301,7 +303,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d541
 <p>Return empty debug state information. </p>
 <p>Useful if contents needed beforehand. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">bgGaussian</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ae41cd8a9eb2f382e6706d5418bee3c83">onWorkspace</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">bgGaussian</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">GloveByColor</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ae41cd8a9eb2f382e6706d5418bee3c83">onWorkspace</a>.</p>
 
 </div>
 </div>
@@ -324,7 +326,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcd
 <p>Return empty state. </p>
 <p>Useful if contents needed beforehand. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a9ee90969e62195d66d515fcdaf56bf6a">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a9ee90969e62195d66d515fcdaf56bf6a">bgGaussian</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a9ee90969e62195d66d515fcdaf56bf6a">onWorkspace</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a9ee90969e62195d66d515fcdaf56bf6a">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a9ee90969e62195d66d515fcdaf56bf6a">bgGaussian</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">GloveByColor</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a9ee90969e62195d66d515fcdaf56bf6a">onWorkspace</a>.</p>
 
 </div>
 </div>
@@ -347,7 +349,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a
 <p>Return current/latest debug state information. </p>
 <p>Usually the debug state consists of internally computed information that is useful for debugging purposes and can help to isolate problems within the implemented class or with downstream processing that may rely on assumptions built into this implemented class. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a86e33c39d3c54a6ebba54b5a0ebf9787">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a86e33c39d3c54a6ebba54b5a0ebf9787">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a86e33c39d3c54a6ebba54b5a0ebf9787">bgmodelGMM_cv</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a86e33c39d3c54a6ebba54b5a0ebf9787">onWorkspace</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a86e33c39d3c54a6ebba54b5a0ebf9787">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a86e33c39d3c54a6ebba54b5a0ebf9787">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a86e33c39d3c54a6ebba54b5a0ebf9787">bgmodelGMM_cv</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">GloveByColor</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a86e33c39d3c54a6ebba54b5a0ebf9787">onWorkspace</a>.</p>
 
 </div>
 </div>
@@ -369,7 +371,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd9
 
 <p>Return current/latest state. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a18bb39f68bce281f0f163fd96bb09a8c">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a18bb39f68bce281f0f163fd96bb09a8c">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a18bb39f68bce281f0f163fd96bb09a8c">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a18bb39f68bce281f0f163fd96bb09a8c">onWorkspace</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a18bb39f68bce281f0f163fd96bb09a8c">fromState</a>, and <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">fgAppearance</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a18bb39f68bce281f0f163fd96bb09a8c">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a18bb39f68bce281f0f163fd96bb09a8c">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a18bb39f68bce281f0f163fd96bb09a8c">bgmodelGMM_cv</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">GloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a18bb39f68bce281f0f163fd96bb09a8c">onWorkspace</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a18bb39f68bce281f0f163fd96bb09a8c">fromState</a>, and <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">fgAppearance</a>.</p>
 
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@@ -448,7 +450,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b
 <p>Empty method for loading internal information from HDF5 file. </p>
 <p>Load data from given HDF5 pointer. Assumes in root from current file pointer location. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a016768f0d8e23ac245a1b74b27021608">bgConical</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a016768f0d8e23ac245a1b74b27021608">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a016768f0d8e23ac245a1b74b27021608">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a016768f0d8e23ac245a1b74b27021608">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a4127c58f469a0afaf254ec2370e176e4">inCorner</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4127c58f469a0afaf254ec2370e176e4">onWorkspace</a>.</p>
+<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a016768f0d8e23ac245a1b74b27021608">bgConical</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a016768f0d8e23ac245a1b74b27021608">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a016768f0d8e23ac245a1b74b27021608">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a016768f0d8e23ac245a1b74b27021608">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a4127c58f469a0afaf254ec2370e176e4">inCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4127c58f469a0afaf254ec2370e176e4">onWorkspace</a>, and <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">GloveByColor</a>.</p>
 
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@@ -486,7 +488,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3f47213028c5bd7e7bf8516d
   </dd>
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-<p>Reimplemented in <a class="el" href="classbyRegion_1_1imageRegions.html#ad8db0adfccb0be89a059d9e1755a5cb2">imageRegions</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#ae24ddf4fbca3ccdedebff2a34ed938c6">fromState</a>, <a class="el" href="classbyRegion_1_1Planar.html#a3f47213028c5bd7e7bf8516db1b13044">Planar</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#ad17eaba369e442d6a16fa52f3cb41762">bgConical</a>, <a class="el" href="classbyRegion_1_1imageOccupancy.html#ad17eaba369e442d6a16fa52f3cb41762">imageOccupancy</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#ad17eaba369e442d6a16fa52f3cb41762">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#ad17eaba369e442d6a16fa52f3cb41762">inCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ad17eaba369e442d6a16fa52f3cb41762">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ad17eaba369e442d6a16fa52f3cb41762">onWorkspace</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ad17eaba369e442d6a16fa52f3cb41762">targetSG</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ad17eaba369e442d6a16fa52f3cb41762">targetNeon</a>, <a class="el" href="classdetector_1_1inImage_1_1inImage.html#ad17eaba369e442d6a16fa52f3cb41762">inImage</a>, <a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html#ad17eaba369e442d6a16fa52f3cb41762">inImageRGBD</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html#ad17eaba369e442d6a16fa52f3cb41762">targetCorner</a>, and <a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#ad17eaba369e442d6a16fa52f3cb41762">targetMagenta</a>.</p>
+<p>Reimplemented in <a class="el" href="classbyRegion_1_1imageRegions.html#ad8db0adfccb0be89a059d9e1755a5cb2">imageRegions</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#ae24ddf4fbca3ccdedebff2a34ed938c6">fromState</a>, <a class="el" href="classbyRegion_1_1Planar.html#a3f47213028c5bd7e7bf8516db1b13044">Planar</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#ad17eaba369e442d6a16fa52f3cb41762">bgConical</a>, <a class="el" href="classbyRegion_1_1imageOccupancy.html#ad17eaba369e442d6a16fa52f3cb41762">imageOccupancy</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#ad17eaba369e442d6a16fa52f3cb41762">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#ad17eaba369e442d6a16fa52f3cb41762">inCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ad17eaba369e442d6a16fa52f3cb41762">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM_cv</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">GloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ad17eaba369e442d6a16fa52f3cb41762">onWorkspace</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ad17eaba369e442d6a16fa52f3cb41762">targetSG</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ad17eaba369e442d6a16fa52f3cb41762">targetNeon</a>, <a class="el" href="classdetector_1_1inImage_1_1inImage.html#ad17eaba369e442d6a16fa52f3cb41762">inImage</a>, <a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html#ad17eaba369e442d6a16fa52f3cb41762">inImageRGBD</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html#ad17eaba369e442d6a16fa52f3cb41762">targetCorner</a>, and <a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#ad17eaba369e442d6a16fa52f3cb41762">targetMagenta</a>.</p>
 
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@@ -510,7 +512,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0
 <p>If transition model known, generate state prediction. Else it is most likely a static transition model, which does nothing / keeps prior state. The base method employs a static state assumption. <br  />
  </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a4dd85ce87569585c592b0dd0638c0dfd">bgGaussian</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a4dd85ce87569585c592b0dd0638c0dfd">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4dd85ce87569585c592b0dd0638c0dfd">onWorkspace</a>, <a class="el" href="classbyRegion_1_1Planar.html#a4dd85ce87569585c592b0dd0638c0dfd">Planar</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a4dd85ce87569585c592b0dd0638c0dfd">fromState</a>, and <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#a4dd85ce87569585c592b0dd0638c0dfd">FromSketch</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a4dd85ce87569585c592b0dd0638c0dfd">bgGaussian</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a4dd85ce87569585c592b0dd0638c0dfd">fgGaussian</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">GloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4dd85ce87569585c592b0dd0638c0dfd">onWorkspace</a>, <a class="el" href="classbyRegion_1_1Planar.html#a4dd85ce87569585c592b0dd0638c0dfd">Planar</a>, <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a4dd85ce87569585c592b0dd0638c0dfd">fromState</a>, and <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#a4dd85ce87569585c592b0dd0638c0dfd">FromSketch</a>.</p>
 
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@@ -543,7 +545,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac0e04a6d0292eed0154740ef
 <p>Process the new incoming signal on full detection pipeline. </p>
 <p>Running the full detection pipeline includes adaptation. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a0b4dc48a437fa80146abb1e58fd6ce35">fromState</a>, <a class="el" href="classbyRegion_1_1Planar.html#ac0e04a6d0292eed0154740ef0ed44772">Planar</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ae7ea0e57263609b9fc86c2f0bde7294b">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#ae7ea0e57263609b9fc86c2f0bde7294b">bgmodelGMM</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a15b5b23376c42a855847f9b74cdc07b3">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a15b5b23376c42a855847f9b74cdc07b3">bgGaussian</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a15b5b23376c42a855847f9b74cdc07b3">onWorkspace</a>.</p>
+<p>Reimplemented in <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a0b4dc48a437fa80146abb1e58fd6ce35">fromState</a>, <a class="el" href="classbyRegion_1_1Planar.html#ac0e04a6d0292eed0154740ef0ed44772">Planar</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ae7ea0e57263609b9fc86c2f0bde7294b">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#ae7ea0e57263609b9fc86c2f0bde7294b">bgmodelGMM</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a15b5b23376c42a855847f9b74cdc07b3">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a15b5b23376c42a855847f9b74cdc07b3">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a15b5b23376c42a855847f9b74cdc07b3">onWorkspace</a>, and <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">GloveByColor</a>.</p>
 
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@@ -607,7 +609,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285
 <p>Empty method for saving internal information to HDF5 file. </p>
 <p>Save data to given HDF5 pointer. Puts in root. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a2d052ae6ae0dc395ed468285493dbc4c">bgConical</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a2d052ae6ae0dc395ed468285493dbc4c">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a2d052ae6ae0dc395ed468285493dbc4c">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a2d052ae6ae0dc395ed468285493dbc4c">inCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a2d052ae6ae0dc395ed468285493dbc4c">onWorkspace</a>, and <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2d052ae6ae0dc395ed468285493dbc4c">fromState</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a2d052ae6ae0dc395ed468285493dbc4c">bgConical</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a2d052ae6ae0dc395ed468285493dbc4c">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a2d052ae6ae0dc395ed468285493dbc4c">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a2d052ae6ae0dc395ed468285493dbc4c">inCorner</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">GloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a2d052ae6ae0dc395ed468285493dbc4c">onWorkspace</a>, and <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2d052ae6ae0dc395ed468285493dbc4c">fromState</a>.</p>
 
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@@ -629,7 +631,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9336ebf25087d91c818ee6e9
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/detector/detector/<a class="el" href="detector_2detector_2base_8py.html">base.py</a></li>
+<li>/home/mary/python/detector/detector/<a class="el" href="detector_2detector_2base_8py.html">base.py</a></li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/classdetector_1_1base_1_1Base__inherit__graph.map b/docs/classdetector_1_1base_1_1Base__inherit__graph.map
index a9f7c3ee..b0e168e7 100644
--- a/docs/classdetector_1_1base_1_1Base__inherit__graph.map
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@@ -240,7 +242,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de55
 <p>Provide information about the current class implementation. </p>
 <p>Exists for reproducibility purposes. Usually stores the factory information used to build the current class instance. </p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#a4cbc8f16a0b6cd68f685de5561a0c618">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a4cbc8f16a0b6cd68f685de5561a0c618">bgConical</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a4cbc8f16a0b6cd68f685de5561a0c618">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a4cbc8f16a0b6cd68f685de5561a0c618">bgGaussian</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4cbc8f16a0b6cd68f685de5561a0c618">onWorkspace</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#a4cbc8f16a0b6cd68f685de5561a0c618">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a4cbc8f16a0b6cd68f685de5561a0c618">bgConical</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a4cbc8f16a0b6cd68f685de5561a0c618">fgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a4cbc8f16a0b6cd68f685de5561a0c618">bgGaussian</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">GloveByColor</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4cbc8f16a0b6cd68f685de5561a0c618">onWorkspace</a>.</p>
 
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 <p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a3f47213028c5bd7e7bf8516db1b13044">Base</a>.</p>
 
-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#ad17eaba369e442d6a16fa52f3cb41762">bgConical</a>, <a class="el" href="classbyRegion_1_1imageOccupancy.html#ad17eaba369e442d6a16fa52f3cb41762">imageOccupancy</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#ad17eaba369e442d6a16fa52f3cb41762">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#ad17eaba369e442d6a16fa52f3cb41762">inCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ad17eaba369e442d6a16fa52f3cb41762">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM_cv</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ad17eaba369e442d6a16fa52f3cb41762">onWorkspace</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ad17eaba369e442d6a16fa52f3cb41762">targetSG</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ad17eaba369e442d6a16fa52f3cb41762">targetNeon</a>, <a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html#ad17eaba369e442d6a16fa52f3cb41762">inImageRGBD</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html#ad17eaba369e442d6a16fa52f3cb41762">targetCorner</a>, and <a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#ad17eaba369e442d6a16fa52f3cb41762">targetMagenta</a>.</p>
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">CalibGloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#ad17eaba369e442d6a16fa52f3cb41762">bgConical</a>, <a class="el" href="classbyRegion_1_1imageOccupancy.html#ad17eaba369e442d6a16fa52f3cb41762">imageOccupancy</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#ad17eaba369e442d6a16fa52f3cb41762">inCornerEstimator</a>, <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#ad17eaba369e442d6a16fa52f3cb41762">inCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ad17eaba369e442d6a16fa52f3cb41762">bgGaussian</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM_cv</a>, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">GloveByColor</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#ad17eaba369e442d6a16fa52f3cb41762">bgmodelGMM</a>, <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ad17eaba369e442d6a16fa52f3cb41762">onWorkspace</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ad17eaba369e442d6a16fa52f3cb41762">targetSG</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ad17eaba369e442d6a16fa52f3cb41762">targetNeon</a>, <a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html#ad17eaba369e442d6a16fa52f3cb41762">inImageRGBD</a>, <a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html#ad17eaba369e442d6a16fa52f3cb41762">targetCorner</a>, and <a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#ad17eaba369e442d6a16fa52f3cb41762">targetMagenta</a>.</p>
 
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 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
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+<tr><td valign="top"><a class="el" href="classdetector_1_1inImageRGBD_1_1bgImageRBGD.html">bgImageRBGD</a> (<a class="el" href="namespacedetector_1_1inImageRGBD.html">detector.inImageRGBD</a>)&#160;&#160;&#160;</td>
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+<td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1base.html">Surveillance.layers.base</a>)&#160;&#160;&#160;</td>
+<td valign="top"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a> (<a class="el" href="namespaceSurveillance_1_1activity_1_1state.html">Surveillance.activity.state</a>)&#160;&#160;&#160;</td>
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-<tr><td valign="top"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a> (<a class="el" href="namespacepuzzle_1_1parser.html">puzzle.parser</a>)&#160;&#160;&#160;</td>
-<td valign="top"><a class="el" href="classpaths_1_1CfgStepLines.html">CfgStepLines</a> (<a class="el" href="namespacepaths.html">paths</a>)&#160;&#160;&#160;</td>
+<tr><td valign="top"><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html">bgmodelGMM</a> (<a class="el" href="namespacedetector_1_1bgmodel_1_1GMM.html">detector.bgmodel.GMM</a>)&#160;&#160;&#160;</td>
+<td valign="top"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a> (<a class="el" href="namespacepuzzle_1_1pieces_1_1matcher.html">puzzle.pieces.matcher</a>)&#160;&#160;&#160;</td>
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-<td valign="top"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a> (<a class="el" href="namespacepuzzle_1_1piece.html">puzzle.piece</a>)&#160;&#160;&#160;</td>
+<td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Params.html">Params</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1base__bg.html">Surveillance.layers.base_bg</a>)&#160;&#160;&#160;</td>
+<td valign="top"><a class="el" href="classpaths_1_1StepLines.html">StepLines</a> (<a class="el" href="namespacepaths.html">paths</a>)&#160;&#160;&#160;</td>
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-<li>/home/pvela/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
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   <div class="headertitle">
-<div class="title">CfgCorrespondences Class Reference</div>  </div>
+<div class="title">CfgCorrespondences Class Reference<div class="ingroups"><a class="el" href="group__PuzzleSolver.html">Puzzle Solver</a></div></div>  </div>
 </div><!--header-->
 <div class="contents">
 
@@ -119,6 +119,23 @@
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+<p>The different configuration settings are: </p><table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">field </th><th class="markdownTableHeadNone">influences or controls  </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">doUpdate </td><td class="markdownTableBodyNone">Boolean indicating whether to update IDs with assigned piece IDs or not.  </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">haveGarbage </td><td class="markdownTableBodyNone">Include garbage classes for pieces? Pemits non-assignment if too off.  </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">tauGarbage </td><td class="markdownTableBodyNone">Value to apply to garbage classes. How threshold applies is based on matcher type  </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">forceMatches </td><td class="markdownTableBodyNone">Boolean indicating whether matches should be forced or post-filtered and removed.  </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">matcher </td><td class="markdownTableBodyNone">String indicating what Matcher to use.  </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">matchParams </td><td class="markdownTableBodyNone">Matcher parameter settings as a dictionary.  </td></tr>
+</table>
+<dl class="section note"><dt>Note</dt><dd>Added but not yet implemented: haveGarbage, tauGarbage, forceMatches. They have no influence on processing. This is being worked on. </dd></dl>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
 <a id="a418793636fd792a2b17e86fc767ccb78"></a>
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 <hr/>The documentation for this class was generated from the following file:<ul>
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index b1c69790..ec30876e 100644
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-<li>/home/pvela/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac23e729c5e2237cfec0f79ed7a94ad27">__init__</a>(self, theParams=CfgCorrespondences(), initBoard=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
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   <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a234e609ac6d4c2c67c1b828d21299747">boardEstimate</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a390000acbb9c0eab381cd19270505526">boardMeasurement</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
@@ -81,7 +81,7 @@
   <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
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   <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac4072d8bdf7b51b32fdc6e6523f9cd6b">greedyAssignment</a>(self, scoreTable_shape, scoreTable_color, scoreTable_edge_color)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a0ce58078687848aeeb74c0de5aef04dd">hungarianAssignment</a>(self, scoreTable)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3857f24a8b8db87eec172c2662af2d02">HungarianAssignment</a>(self, scoreTable, getInverse=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac64a7c833ba3a6027b7bc4269ecf210b">matcher</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#adb50fb92faf8f50eb95a8bccc5317b70">matchPieces</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
diff --git a/docs/classpuzzle_1_1board_1_1Correspondences.html b/docs/classpuzzle_1_1board_1_1Correspondences.html
index 7b8060cf..491caa66 100644
--- a/docs/classpuzzle_1_1board_1_1Correspondences.html
+++ b/docs/classpuzzle_1_1board_1_1Correspondences.html
@@ -72,7 +72,7 @@
 <a href="#pub-attribs">Public Attributes</a> &#124;
 <a href="classpuzzle_1_1board_1_1Correspondences-members.html">List of all members</a>  </div>
   <div class="headertitle">
-<div class="title">Correspondences Class Reference</div>  </div>
+<div class="title">Correspondences Class Reference<div class="ingroups"><a class="el" href="group__PuzzleSolver.html">Puzzle Solver</a></div></div>  </div>
 </div><!--header-->
 <div class="contents">
 
@@ -81,9 +81,9 @@
 <table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
 Public Member Functions</h2></td></tr>
-<tr class="memitem:a844aa6e971fec4c085891ac1ea0cd050"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a844aa6e971fec4c085891ac1ea0cd050">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1board_1_1CorrespondenceParms.html">CorrespondenceParms</a>, initBoard=None)</td></tr>
-<tr class="memdesc:a844aa6e971fec4c085891ac1ea0cd050"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the board matcher class.  <a href="classpuzzle_1_1board_1_1Correspondences.html#a844aa6e971fec4c085891ac1ea0cd050">More...</a><br /></td></tr>
-<tr class="separator:a844aa6e971fec4c085891ac1ea0cd050"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac23e729c5e2237cfec0f79ed7a94ad27"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac23e729c5e2237cfec0f79ed7a94ad27">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a>(), initBoard=None)</td></tr>
+<tr class="memdesc:ac23e729c5e2237cfec0f79ed7a94ad27"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the board matcher class.  <a href="classpuzzle_1_1board_1_1Correspondences.html#ac23e729c5e2237cfec0f79ed7a94ad27">More...</a><br /></td></tr>
+<tr class="separator:ac23e729c5e2237cfec0f79ed7a94ad27"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a72fbf2f30085967560d93851fdf9fe6b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
 <tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform adaptation based on correspondence as applicable.  <a href="classpuzzle_1_1board_1_1Correspondences.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
 <tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -96,9 +96,9 @@
 <tr class="memitem:ac4072d8bdf7b51b32fdc6e6523f9cd6b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac4072d8bdf7b51b32fdc6e6523f9cd6b">greedyAssignment</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a1d4606f589063e9dd2d29744554ecc64">scoreTable_shape</a>, scoreTable_color, scoreTable_edge_color)</td></tr>
 <tr class="memdesc:ac4072d8bdf7b51b32fdc6e6523f9cd6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the greedyAssignment for the score table.  <a href="classpuzzle_1_1board_1_1Correspondences.html#ac4072d8bdf7b51b32fdc6e6523f9cd6b">More...</a><br /></td></tr>
 <tr class="separator:ac4072d8bdf7b51b32fdc6e6523f9cd6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a0ce58078687848aeeb74c0de5aef04dd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a0ce58078687848aeeb74c0de5aef04dd">hungarianAssignment</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a69ecbb454afd7b49a65b76d8e4b4c63f">scoreTable</a>)</td></tr>
-<tr class="memdesc:a0ce58078687848aeeb74c0de5aef04dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run Hungarian Assignment for the score table.  <a href="classpuzzle_1_1board_1_1Correspondences.html#a0ce58078687848aeeb74c0de5aef04dd">More...</a><br /></td></tr>
-<tr class="separator:a0ce58078687848aeeb74c0de5aef04dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3857f24a8b8db87eec172c2662af2d02"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3857f24a8b8db87eec172c2662af2d02">HungarianAssignment</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a69ecbb454afd7b49a65b76d8e4b4c63f">scoreTable</a>, getInverse=False)</td></tr>
+<tr class="memdesc:a3857f24a8b8db87eec172c2662af2d02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run Hungarian Assignment for the score table.  <a href="classpuzzle_1_1board_1_1Correspondences.html#a3857f24a8b8db87eec172c2662af2d02">More...</a><br /></td></tr>
+<tr class="separator:a3857f24a8b8db87eec172c2662af2d02"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:adb50fb92faf8f50eb95a8bccc5317b70"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#adb50fb92faf8f50eb95a8bccc5317b70">matchPieces</a> (self)</td></tr>
 <tr class="memdesc:adb50fb92faf8f50eb95a8bccc5317b70"><td class="mdescLeft">&#160;</td><td class="mdescRight">Match all the measured puzzle pieces with board prior in a pairwise manner to get meas to prior.  <a href="classpuzzle_1_1board_1_1Correspondences.html#adb50fb92faf8f50eb95a8bccc5317b70">More...</a><br /></td></tr>
 <tr class="separator:adb50fb92faf8f50eb95a8bccc5317b70"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -138,8 +138,8 @@
 <div class="textblock"><p>Class that compares two boards and generates correspondences across them. </p>
 <p>The comparison technique and properties are completely up to the programmer/engineer to establish. This class simply structures and faclitates the implementation. There is an implicit static assumption underlying the elements temporal evolution. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a844aa6e971fec4c085891ac1ea0cd050"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a844aa6e971fec4c085891ac1ea0cd050">&#9670;&nbsp;</a></span>__init__()</h2>
+<a id="ac23e729c5e2237cfec0f79ed7a94ad27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac23e729c5e2237cfec0f79ed7a94ad27">&#9670;&nbsp;</a></span>__init__()</h2>
 
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           <td class="paramkey"></td>
           <td></td>
           <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1board_1_1CorrespondenceParms.html">CorrespondenceParms</a></code>, </td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a>()</code>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -328,14 +328,14 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac4072d8bdf7b51b32fdc6e65
 
 </div>
 </div>
-<a id="a0ce58078687848aeeb74c0de5aef04dd"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a0ce58078687848aeeb74c0de5aef04dd">&#9670;&nbsp;</a></span>hungarianAssignment()</h2>
+<a id="a3857f24a8b8db87eec172c2662af2d02"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3857f24a8b8db87eec172c2662af2d02">&#9670;&nbsp;</a></span>HungarianAssignment()</h2>
 
 <div class="memitem">
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname">def hungarianAssignment </td>
+          <td class="memname">def HungarianAssignment </td>
           <td>(</td>
           <td class="paramtype">&#160;</td>
           <td class="paramname"><em>self</em>, </td>
@@ -344,7 +344,13 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0ce58078687848aeeb74c0de
           <td class="paramkey"></td>
           <td></td>
           <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>scoreTable</em>&#160;</td>
+          <td class="paramname"><em>scoreTable</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>getInverse</em> = <code>False</code>&#160;</td>
         </tr>
         <tr>
           <td></td>
@@ -355,9 +361,19 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0ce58078687848aeeb74c0de
 </div><div class="memdoc">
 
 <p>Run Hungarian Assignment for the score table. </p>
+<p>Atempts to associate row elements with column elements to define an assignment mapping that gives column elements (ideally) the same ID as the row elements. Per <a href="https://docs.scipy.org/doc/scipy/reference/generated/scipy.optimize.linear_sum_assignment.html">scipy documentation for linear_sum_assignment</a>: </p><blockquote class="doxtable">
+<p>Can also solve a generalization of the classic assignment problem where the cost matrix is rectangular. If it has more rows than columns, then not every row needs to be assigned to a column, and vice versa. </p>
+</blockquote>
+<p>The score table shape will influence the operation of the Hungarian Assignment implementation. If the matrix is:</p><ul>
+<li>square, then association will be a 1-1 assignment;</li>
+<li>wide, then the associated will be a 1-1 assignment with unassigned columns;</li>
+<li>tall, then the association is permissive of unassigned row elements, not 1-1.</li>
+</ul>
+<p>It is up to the outer scope to establish what is the best way to pass in the scoreTable and then to interpret the results. If the 1-1 association should operate in the opposite direction, then set getInverse to True.</p>
+<p>Returning assignments as a dictionary to permit non-assignment.</p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
-    <tr><td class="paramdir">[in]</td><td class="paramname">scoreTAble</td><td>Score table for the pairwise comparison.</td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">scoreTAble</td><td>Score table for the pairwise comparison. </td></tr>
     <tr><td class="paramdir">[out]</td><td class="paramname">matched_id</td><td>Matched pair dict. </td></tr>
   </table>
   </dd>
@@ -565,7 +581,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae3b4a5cae7c025003260aa58
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html
index 2a1e580f..22b3af02 100644
--- a/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html
+++ b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html
@@ -605,7 +605,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a36fb9e2f41b90386b06c2277
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/puzzle_solver/puzzle/builder/<a class="el" href="adjacent_8py.html">adjacent.py</a></li>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="adjacent_8py.html">adjacent.py</a></li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html
index 44128cb9..1202d32e 100644
--- a/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html
+++ b/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html
@@ -226,7 +226,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/puzzle_solver/puzzle/builder/<a class="el" href="adjacent_8py.html">adjacent.py</a></li>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="adjacent_8py.html">adjacent.py</a></li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html b/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html
index 4b199416..58bcff29 100644
--- a/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html
+++ b/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html
@@ -285,8 +285,15 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039
 
 <p>Given an image and an image mask, parse both to recover the puzzle calibration/solution. </p>
 <p>Instantiates a puzzle parser that gets applied to the submitted data to create a puzzle board instance. That instance is the calibration/solution.</p>
-<p>Args: theImage: The puzzle image data. theMask: The puzzle mask data. theParams: The params.</p>
-<p>Returns: thePuzzle: The arrangement puzzle board instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theImage</td><td>The puzzle image data. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theMask</td><td>The puzzle mask data. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>The params.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>thePuzzle The arrangement puzzle board instance. </dd></dl>
 
 <p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">Interlocking</a>, <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">Adjacent</a>, and <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a6b30547afe901ea577b424b1caa1c49c">Gridded</a>.</p>
 
@@ -748,7 +755,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/puzzle_solver/puzzle/builder/<a class="el" href="arrangement_8py.html">arrangement.py</a></li>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="arrangement_8py.html">arrangement.py</a></li>
 </ul>
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 <!-- start footer part -->
diff --git a/docs/classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html b/docs/classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html
index 3268fec8..151847c0 100644
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@@ -225,7 +225,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/puzzle_solver/puzzle/builder/<a class="el" href="arrangement_8py.html">arrangement.py</a></li>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="arrangement_8py.html">arrangement.py</a></li>
 </ul>
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 <!-- start footer part -->
diff --git a/docs/classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html b/docs/classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html
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 </div>
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 <hr/>The documentation for this class was generated from the following file:<ul>
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+<tr class="memdesc:aed5219e329d1c20a9ff74a315433dba0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create copy of puzzle piece instance rotated by the given angle.  <a href="classpuzzle_1_1piece_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">More...</a><br /></td></tr>
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 <tr class="memitem:af7cfa5c8d148b6ce6d80b8959a51fe90"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#af7cfa5c8d148b6ce6d80b8959a51fe90">setPlacement</a> (self, r, isOffset=False, isCenter=False)</td></tr>
 <tr class="memdesc:af7cfa5c8d148b6ce6d80b8959a51fe90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide pixel placement location information.  <a href="classpuzzle_1_1piece_1_1Template.html#af7cfa5c8d148b6ce6d80b8959a51fe90">More...</a><br /></td></tr>
@@ -740,9 +740,14 @@ <h2 class="memtitle"><span class="permalink"><a href="#aed5219e329d1c20a9ff74a31
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-<p>Rotate the puzzle template instance by the given angle. </p>
-<p>Args: theta: The rotated angle.</p>
-<p>Returns: thePiece: A new puzzle template instance. </p>
+<p>Create copy of puzzle piece instance rotated by the given angle. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theta</td><td>Rotation angle.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>thePiece Rotated puzzle template instance. </dd></dl>
 
 <p>Reimplemented in <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aed5219e329d1c20a9ff74a315433dba0">Regular</a>.</p>
 
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 <hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/pvela/python/puzzle_solver/puzzle/<a class="el" href="piece_8py.html">piece.py</a></li>
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-<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="edge_8py.html">edge.py</a></li>
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-<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
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-<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
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-<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
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-<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
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-<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchSimilar_8py.html">matchSimilar.py</a></li>
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 <hr/>The documentation for this class was generated from the following file:<ul>
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diff --git a/docs/functions.html b/docs/functions.html
index cd06ce3e..6425f37f 100644
--- a/docs/functions.html
+++ b/docs/functions.html
@@ -67,6 +67,12 @@
 <h3><a id="index__5F"></a>- _ -</h3><ul>
 <li>__call__()
 : <a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html#ae112a20c5bdfc4d16c09cf7214d2b6a7">copyAttributes</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a72728c44f822dcddfd5556ff8d1310e4">DynamicDisplay</a>
+</li>
+<li>__contains__()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a2b73af84143b7d77149c735c95df0790">Params</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1dict2struct.html#a2b73af84143b7d77149c735c95df0790">dict2struct</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a2b73af84143b7d77149c735c95df0790">specifications</a>
 </li>
 <li>__del__()
 : <a class="el" href="classchannels_1_1toFile.html#a41a65d7030dd1006b177d0bc24e1a12b">toFile</a>
@@ -176,7 +182,7 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classperceiver_1_1reporting_1_1Reporter.html#af70c9c2d946ebd523f11120602f61511">Reporter</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">Board</a>
 , <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a418793636fd792a2b17e86fc767ccb78">CfgCorrespondences</a>
-, <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a844aa6e971fec4c085891ac1ea0cd050">Correspondences</a>
+, <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac23e729c5e2237cfec0f79ed7a94ad27">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">CfgAdjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aa88b7c7429d23b7d2fa17ffc752a4ac9">Arrangement</a>
@@ -188,8 +194,6 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a22f1563be721d914e89ef41efd3af7b1">ByColor</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#a6c44576e02fde5d764d87b3e780c79e5">ByShape</a>
 , <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a72c60f4b326acd286ffa488c97bab330">Manager</a>
-, <a class="el" href="classpuzzle_1_1old__board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#ae9247c1ed56e1db05ca3b0e01966fac2">Template</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a9fe5d48a7f4c6a7215fc6bc3b878d66a">FromLayer</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#af6c7a3f709feb7b34c6dae656b07899a">FromSketch</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#ac2126adb99433d6a491cb620dbc71afe">Simple</a>
@@ -230,6 +234,63 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#ac9b243262f2da5597509d957ede74cef">TwoAgent</a>
 , <a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html#a4a1aadb34aa4414d4e346f2aaf593d0d">copyAttributes</a>
 , <a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html#a65f556f65e30e8abfd67d1bba18d764d">TextRectException</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">Base</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Pick.html#ae64f0875afe3067b97ba370b354b9213">Pick</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Place.html#ae64f0875afe3067b97ba370b354b9213">Place</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a586ff62eb2ce0b6cb7d93bf191044a4a">Base_state</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#aa0c505454dd1ca2ca78e62121ec785a2">StateEstimator</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#ac84760345fc2977b8a1de1b09eff7f3c">DynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#abc1b785959b47505de72feabab160402">ActDecoder</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#aff24747c99da434ec48af92530b4e0f9">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#ae3117eb2fb4594af5d01e1da5a78ede3">ImageListener</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Base_bg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Base_fg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a39000bad924dc8be25adea30359eab50">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgPuzzlePerceiver.html#a418793636fd792a2b17e86fc767ccb78">CfgPuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a565d1ccd606c961b08b473cfe47c79ec">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae91dc874e20b1447436644d006da91e9">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a0c2c14a208de7aa36b7a38fb491a0b36">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgHandDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgHandDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#af1d94040a762fca31ee9fefb2b9a8667">Human_ColorSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ac925a2258f71f3a4a886cd0098257714">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1c738de2be2b3952c998256db3960b11">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a418793636fd792a2b17e86fc767ccb78">CfgPuzzleScene</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#acd24f3a10491396e0947eb17e4ccd5fe">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae91dc874e20b1447436644d006da91e9">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#a5162304d394f5e986db3696e86607be0">robot_inRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#aa55642f4ad76b95326d5e6400e26ebcb">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afaf30d7077d95a3fa5a97255b98e914e">SceneInterpreterV1</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#a28836affa0fa9a7901ca270d33aa919c">tabletop_GMM</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1configs_1_1CfgNode.html#a418793636fd792a2b17e86fc767ccb78">CfgNode</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#af876869e8e1fcc2c37d8bec84e628a21">HeightEstimator</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1MaskGrower.html#aa97cef5be022892a61fe8176d75c0d2d">MaskGrower</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa97cef5be022892a61fe8176d75c0d2d">RegionGrower_base</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#aa97cef5be022892a61fe8176d75c0d2d">RegionGrower_ValDiff</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1dict2struct.html#a73d23b5b4859e9f8660c7d0f259f4df9">dict2struct</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a739c126697760ff6a83efd31af700812">specifications</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac9b73787395eeec8c4ee9d07f0baa61f">frameTransformer</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a7daf16268d7d94c657ed344a7a102a12">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a418793636fd792a2b17e86fc767ccb78">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">centroidMulti</a>
@@ -251,6 +312,12 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classtriggers_1_1whenFar.html#a8e6de7c28e95ac3dc8fdb240d15914e2">whenFar</a>
 , <a class="el" href="classtriggers_1_1whenSimilar.html#a8e6de7c28e95ac3dc8fdb240d15914e2">whenSimilar</a>
 </li>
+<li>__post_init__()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a41013be3459e5a9118b4aa276100034d">Params</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Params__Residual.html#a41013be3459e5a9118b4aa276100034d">Params_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html#a41013be3459e5a9118b4aa276100034d">Params</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html#a41013be3459e5a9118b4aa276100034d">Params_GMM</a>
+</li>
 <li>__setattr__()
 : <a class="el" href="classivapy_1_1Configuration_1_1AlgConfig.html#af055b1238dfa57009bb4a6df9c2b4981">AlgConfig</a>
 </li>
diff --git a/docs/functions_a.html b/docs/functions_a.html
index 74c61c2a..fc8cfacb 100644
--- a/docs/functions_a.html
+++ b/docs/functions_a.html
@@ -69,6 +69,19 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 : <a class="el" href="classdrafts_1_1Announcement.html#a1066871c791c73bdbdac75a23ebdde8f">Announcement</a>
 , <a class="el" href="classdrafts_1_1RunningCommentary.html#a1066871c791c73bdbdac75a23ebdde8f">RunningCommentary</a>
 </li>
+<li>act_codebook
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#a05142afe49d12fb1fe7a1f95e3f3b8fe">ActDecoder</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a05142afe49d12fb1fe7a1f95e3f3b8fe">BaseSurveillanceDeploy</a>
+</li>
+<li>act_decoder
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a81c6ca740ae879354293994ea291c115">ImageListener</a>
+</li>
+<li>act_mark_cache
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#af558571ee29f0d02c125630113929fc5">BaseSurveillanceDeploy</a>
+</li>
+<li>act_mark_pub
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ad4caaa29e5e3a99351f952a02ed6c1e2">BaseSurveillanceDeploy</a>
+</li>
 <li>ACTION_LABELS
 : <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a763b0d0d6cbb5a5a81692f474b6cff68">Actions</a>
 </li>
@@ -77,6 +90,14 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 </li>
 <li>activity
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a54f1d8208fc901f0d590d129e0fe4af7">Monitor</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#a54f1d8208fc901f0d590d129e0fe4af7">ActDecoder</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a54f1d8208fc901f0d590d129e0fe4af7">specifications</a>
+</li>
+<li>activity_label
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#aa158f5f58ff6cd12868ca6cdcd4dfff9">ImageListener</a>
+</li>
+<li>activity_window
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#acc550762e52d8a74e50ce5c4113b8274">ImageListener</a>
 </li>
 <li>adapt()
 : <a class="el" href="classbyRegion_1_1Planar.html#a72fbf2f30085967560d93851fdf9fe6b">Planar</a>
@@ -94,6 +115,29 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a72fbf2f30085967560d93851fdf9fe6b">Progress</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a72fbf2f30085967560d93851fdf9fe6b">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a1d7acf0a8fd28146835e3d467a0d8681">Planner</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a72fbf2f30085967560d93851fdf9fe6b">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a72fbf2f30085967560d93851fdf9fe6b">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a72fbf2f30085967560d93851fdf9fe6b">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a72fbf2f30085967560d93851fdf9fe6b">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">centroid</a>
 </li>
 <li>adapt_rate
@@ -139,6 +183,9 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 <li>alwaystoiterable()
 : <a class="el" href="classdrafts_1_1Announcement.html#aaf0a732f75c7195089f964c016cda0cf">Announcement</a>
 </li>
+<li>analysis
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#ab8b576d14990b9f80475e5620e52cc25">specifications</a>
+</li>
 <li>announcement
 : <a class="el" href="classdrafts_1_1Announcement.html#ad5839d5081c38fe1357042f3482b4041">Announcement</a>
 , <a class="el" href="classdrafts_1_1Commentary.html#ad5839d5081c38fe1357042f3482b4041">Commentary</a>
@@ -153,6 +200,9 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classpuzzle_1_1manager_1_1ManagerParms.html#abd7045ad8553e16c50a967b4d48b7f6b">ManagerParms</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html#abd7045ad8553e16c50a967b4d48b7f6b">ParamPuzzle</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#abd7045ad8553e16c50a967b4d48b7f6b">ParamRunner</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">DetectorState</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html#abd7045ad8553e16c50a967b4d48b7f6b">DetStateHand</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState.html#abd7045ad8553e16c50a967b4d48b7f6b">DetectorsState</a>
 </li>
 <li>app
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#afe63fea7be31b0200b496d08bc6b517d">Hand</a>
@@ -160,6 +210,7 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 <li>apply()
 : <a class="el" href="classcamera_1_1tabletop_1_1height__estimator_1_1HeightEstimator.html#a47ffe5516812829bc638d67b2fca88ea">HeightEstimator</a>
 , <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a3ee8ed2487bba742a2be2dfb5cc88178">mask</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#a47ffe5516812829bc638d67b2fca88ea">HeightEstimator</a>
 </li>
 <li>apply_estimated_margins()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#aa31f7f85e97a53a42c31cc4742da5a96">inCornerEstimator</a>
@@ -175,6 +226,7 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 </li>
 <li>array
 : <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a41ab4b8b4e6b05e8489555b1bbc7f845">ParamRunner</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a41ab4b8b4e6b05e8489555b1bbc7f845">Params</a>
 </li>
 <li>aruco_dict
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a2f28482ae4ba02c4483e262ea80d936f">CtoW_Calibrator_aruco</a>
@@ -204,6 +256,12 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 : <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a4da321dd2fc04e01a3a0167962b86d68">D435_Runner</a>
 , <a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html#a4da321dd2fc04e01a3a0167962b86d68">RGBD_Aligned</a>
 </li>
+<li>ax
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a8fa675eb2fcec5b95d9d21c670da7f30">DynamicDisplay</a>
+</li>
+<li>axbg_cache
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a49bf0c61f6025deaeb91a35237bb419d">DynamicDisplay</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_b.html b/docs/functions_b.html
index 05626c28..3959e672 100644
--- a/docs/functions_b.html
+++ b/docs/functions_b.html
@@ -74,6 +74,18 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>bClusterImage
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ade55d4229f42284f7e3397f9b7819d4b">RealSolver</a>
 </li>
+<li>BEV_mat
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#af590827d3047be81c6604bd5e67a6c8c">BaseSurveillanceDeploy</a>
+</li>
+<li>BEV_size
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aea8f07689b038243b753197812f3c4af">SceneInterpreterV1</a>
+</li>
+<li>bg_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a517f31b4792db90b7655e9408c8e90a7">SceneInterpreterV1</a>
+</li>
+<li>bg_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af40933d7f3db3084a78804cd538bce0e">SceneInterpreterV1</a>
+</li>
 <li>bgI
 : <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a08e6763d61467b61fdb010e601382bd4">bgConical</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a08e6763d61467b61fdb010e601382bd4">bgGaussian</a>
@@ -117,6 +129,7 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1ProgressState.html#af6a258d8f3ee5206d682d799316314b1">ProgressState</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html#af6a258d8f3ee5206d682d799316314b1">ParamPuzzle</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html#af6a258d8f3ee5206d682d799316314b1">ParamSTL</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#af6a258d8f3ee5206d682d799316314b1">Params</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#af6a258d8f3ee5206d682d799316314b1">TrackState</a>
 </li>
 <li>BOTTOM
@@ -145,6 +158,8 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 </li>
 <li>build()
 : <a class="el" href="classpaths_1_1StepLines.html#ac38b63ac523d56951998db031ae1472b">StepLines</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a8ee1a1f8129e1e7437c6d7412c15ee1c">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#aae68451ed52f220fcd660b0c5efb01be">tabletop_GMM</a>
 </li>
 <li>build_for_RGB()
 : <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#ac79da5098a8e4042cf7929a551d86231">CfgHistogramCV</a>
@@ -179,6 +194,9 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildBasicPipeline()
 : <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#af1a4e96c5447617fcb2e6d9c1739aab9">Simple</a>
 </li>
+<li>buildCalibratedFromImage()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cdb1e047635e92559744e18f3128d44">Calibrator</a>
+</li>
 <li>buildColorMatchCV()
 : <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a5fdbe7ff06e5299c408581d874439257">CfgCorrespondences</a>
 </li>
@@ -206,6 +224,10 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1SphericalModel.html#ad91691ae303bf72342e7b696519264fd">SphericalModel</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ab474e90d2a82b1af880bcb8efe85e65b">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#aef3c7555640601680692dd3fa9948a55">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ab474e90d2a82b1af880bcb8efe85e65b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4bc897f28de1b0ff5eb52fdd240faae8">Detectors</a>
 </li>
 <li>buildFromConfig()
 : <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ac77bfc6115e0703fa39a8f32fd556ce0">Distance</a>
@@ -213,6 +235,9 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFromFile()
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#a4c38ce390024a1819b38e6ba2c9ec2d9">Color</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner2_1_1D435__Runner.html#a4c38ce390024a1819b38e6ba2c9ec2d9">D435_Runner</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aa21d87aa1e4d13b5008be4f0e49ed31f">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">Perceiver</a>
 </li>
 <li>buildFromFile_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">Adjacent</a>
@@ -235,16 +260,27 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFromImage()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#aa9b5cd5cdac569cbc417db072bdf1642">targetNeon</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#afef14ba0017f72087d069c5fe3dbb598">targetSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a4a745db10619d5f5ed3c1e850fa99a4f">Human_ColorSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a123c7d41f4ab1a659db983fcf75a25f7">Human_ColorSG_HeightInRange</a>
 </li>
 <li>buildFromMaskAndImage()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a7237c71d74c43fa2eda6de099325d6bb">Template</a>
-, <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a093d817147278d440b80cf331713b75e">Regular</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a093d817147278d440b80cf331713b75e">Regular</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1Template.html#affd9df85ce55a368225f6562198e6249">Template</a>
 </li>
 <li>buildFromPolygons()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#ad1b801b42ed4c3c6f355e816bac77205">imageOccupancy</a>
 , <a class="el" href="classbyRegion_1_1imageRegions.html#ad1b801b42ed4c3c6f355e816bac77205">imageRegions</a>
 </li>
+<li>buildFromRosbag()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#aa7616a745363f770214a417ef80e7e06">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a568518935021f44ffa9d1c8f3e30b897">SceneInterpreterV1</a>
+</li>
+<li>buildFromSourceDir()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a31f026e0f9ba62ed6d7004202cfb9356">SceneInterpreterV1</a>
+</li>
+<li>buildFromSourcePub()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a475fbf3740111eca4032186bfac92f03">SceneInterpreterV1</a>
+</li>
 <li>buildGroupWithAnnouncement()
 : <a class="el" href="classperceiver_1_1reporting_1_1BeatReporter.html#ab1dc85ffbbdb9f9faf451356acfaf8a0">BeatReporter</a>
 </li>
@@ -256,6 +292,7 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 </li>
 <li>buildImgDiff()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a83a10cc94198eae648f8a44163a1a7ac">targetSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a270e0455b0b1a0b4b5fb35f536f60429">Human_ColorSG_HeightInRange</a>
 </li>
 <li>buildMatcher()
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a4a39973fb0707cf0768d4fc141a4b9d2">Correspondences</a>
@@ -263,22 +300,28 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildNearest()
 : <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a370d3df9068a77a0975e9769ed7b52cc">CfgCorrespondences</a>
 </li>
+<li>buildPub()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ab6e2df08333381b54765a90195ef8028">BaseSurveillanceDeploy</a>
+</li>
 <li>buildSimple()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ae4088583de6ba48160af133988edfbcf">targetNeon</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a960cb93636b87baf39ec87e476d4101f">targetSG</a>
 </li>
 <li>buildSphere()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a17e03c4e546a0c7ae44095be46f6a5a4">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a7add1ee8c9b2504451399792bd931846">Template</a>
 </li>
 <li>buildSphereAgent()
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#af1dad5fc1e52e729b01ebb456cc72c47">Hand</a>
 </li>
 <li>buildSquare()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a25595eb29f8cc161cad172dcc463dc18">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#afa36410bed74cde54a141515dc3fec2b">Template</a>
 </li>
 <li>buildSquareAgent()
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a9ed94a91dd0690fc6772dfb603c33620">Hand</a>
 </li>
+<li>buildWithBasicTracker()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a8d82af2a1c4cc2d819f0468bc3deb539">PuzzlePerceiver</a>
+</li>
 <li>builtForBlackMat()
 : <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGM.html#a001046fb8860872c5848b43f85912996">CfgSGM</a>
 </li>
diff --git a/docs/functions_c.html b/docs/functions_c.html
index b0686442..b9556e53 100644
--- a/docs/functions_c.html
+++ b/docs/functions_c.html
@@ -84,9 +84,15 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>cache_id
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1vidWriter.html#aff4f37d08942bdce6d83a4ed2d1707da">vidWriter</a>
 </li>
+<li>cache_img
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a74e5d8981d7da5824730ab274bb01653">RegionGrower_base</a>
+</li>
 <li>cache_M_CL
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#acd6de0a8a9c74e9cff0678c6fe97add1">CtoW_Calibrator_aruco</a>
 </li>
+<li>cache_map
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#ac51ac6ba6e1b68ab25171eb429398994">RegionGrower_base</a>
+</li>
 <li>cache_occr
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#aced5bff92479ce6cb7b9501fa0d4c6ff">CtoW_Calibrator_aruco</a>
 </li>
@@ -116,6 +122,14 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a0791490a3fd6a552c4e91dbc484eb9b8">targetSG</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a8d2c1ff850bd34e3077458b7d409b479">RealSolver</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2de434e4ed5245432b7d460326696c81">SimTime</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#a50a4d24eb4e9ccb07985e1563c99586b">tabletop_GMM</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#a0b1f346fbf061cc57de33ac90e6d8105">HeightEstimator</a>
+</li>
+<li>calibrate2config()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4498702614e2397a06ca0cd53000b0d3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#af883f30b0307ace54b0bb0c4970e62bf">Detectors</a>
 </li>
 <li>calibrate_from_data()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#afd0e7519f6db389b1ef4184930928a25">inCorner</a>
@@ -139,6 +153,18 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>calibSimple()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#a8d0467d7a2dee45e708849e1c5b4c1b3">targetNeon</a>
 </li>
+<li>callable
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">Params</a>
+</li>
+<li>Callable
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html#a8719cb645096a73ecea462e78ae1f882">Params</a>
+</li>
+<li>callback_activity()
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a6c38138a0a87d6e1570691fd177e83bb">ImageListener</a>
+</li>
+<li>callback_rgbd()
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a8e63de723e01536107dd3d8889dd92f2">ImageListener</a>
+</li>
 <li>cameraMatrix
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a5574ec8a203f76cdfb2ce8713b5a20de">CtoW_Calibrator_aruco</a>
 </li>
@@ -190,9 +216,6 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>closing()
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a3a824807069ff67f52fbf42bef410e06">mask</a>
 </li>
-<li>cluster_id
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a91ce2f023859da339d1cd67d400b77f5">Template</a>
-</li>
 <li>cluster_piece_dict
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a68f7a97055e94dcf71948daa0c79619d">SimTime</a>
 </li>
@@ -253,6 +276,9 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classdrafts_1_1Commentary.html#ad2256458892609d0533df5d72a7257ad">Commentary</a>
 , <a class="el" href="classperceiver_1_1reporting_1_1Editor.html#ad2256458892609d0533df5d72a7257ad">Editor</a>
 , <a class="el" href="classperceiver_1_1reporting_1_1Reporter.html#ad2256458892609d0533df5d72a7257ad">Reporter</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">Detector</a>
 , <a class="el" href="classtriggers_1_1Trigger.html#ad2256458892609d0533df5d72a7257ad">Trigger</a>
 </li>
 <li>configs
@@ -275,6 +301,29 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#ad1017975e2cf3f6aad2eb699e576acfb">Progress</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ad1017975e2cf3f6aad2eb699e576acfb">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#ad1017975e2cf3f6aad2eb699e576acfb">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad1017975e2cf3f6aad2eb699e576acfb">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad1017975e2cf3f6aad2eb699e576acfb">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad1017975e2cf3f6aad2eb699e576acfb">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad1017975e2cf3f6aad2eb699e576acfb">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">centroid</a>
 </li>
 <li>corrections()
diff --git a/docs/functions_d.html b/docs/functions_d.html
index bf9d74e4..99da978d 100644
--- a/docs/functions_d.html
+++ b/docs/functions_d.html
@@ -83,6 +83,9 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>d435_starter
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ab10a2b2196dd477c36c656baa79b3887">D435RecBase</a>
 </li>
+<li>D_np
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a88d2c36303961b6e5312d45800a616f1">ImageListener</a>
+</li>
 <li>data
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1MData.html#a511ae0b1c13f95e5f08f1a0dd3da3d93">MData</a>
 </li>
@@ -92,18 +95,37 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>dateof()
 : <a class="el" href="classdrafts_1_1Announcement.html#a12b1ea6defea0c423e979ede49c944f7">Announcement</a>
 </li>
+<li>decode()
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ad8a859a39295b26d9f586354a44912ce">ActDecoder</a>
+</li>
+<li>default_factory
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#ac44e8607df17617696a0a70c1c55871d">ParamDynamicDisplay</a>
+</li>
 <li>dep_scale_topic
 : <a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html#a51e9fcd6034df41969706874e5d639c7">vidWriter_ROS</a>
 </li>
 <li>dep_topic
 : <a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html#aa23aa62a0464e1f57545e198261906d6">vidWriter_ROS</a>
 </li>
+<li>depth
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a40fbe8949b277afd0fac64228851b12a">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a40fbe8949b277afd0fac64228851b12a">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a40fbe8949b277afd0fac64228851b12a">SceneInterpreterV1</a>
+</li>
 <li>depth_scale
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#abbf2a98f2bfcb7d9679e49ae8667f615">D435RecBase</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#abbf2a98f2bfcb7d9679e49ae8667f615">D435_Runner</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#abbf2a98f2bfcb7d9679e49ae8667f615">Replay</a>
 , <a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html#abbf2a98f2bfcb7d9679e49ae8667f615">RGBD_Aligned</a>
 , <a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html#abbf2a98f2bfcb7d9679e49ae8667f615">vidWriter_ROS</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#abbf2a98f2bfcb7d9679e49ae8667f615">BaseSurveillanceDeploy</a>
 </li>
 <li>depth_scale_topic_name
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecRosbag.html#a81a2901cd37d0be1f72059dc0780bc01">D435RecRosbag</a>
@@ -123,6 +145,14 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>desired
 : <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a6788c2131efce60abb1699742c1c9509">Base</a>
 </li>
+<li>det_mask()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a1ade44fd4633027a680eae6c5c878b16">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a1ade44fd4633027a680eae6c5c878b16">Base_bg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">Base_fg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a1ade44fd4633027a680eae6c5c878b16">Human_ColorSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1ade44fd4633027a680eae6c5c878b16">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#a1ade44fd4633027a680eae6c5c878b16">robot_inRange</a>
+</li>
 <li>detect()
 : <a class="el" href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">Base</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#af900d1f3aa432a649c1fa2bcc276c414">bgmodelGMM_cv</a>
@@ -133,10 +163,28 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>detect()
 : <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#aa8c9f0fd77bd628012d6fcb1d07f13f0">fgGaussian</a>
 , <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2bbb50d8c85e39e051675be235b4eeac">fromState</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a870baf8ed8c5e8ab984e620732abaa92">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4b9eb4438bf990362c9afce4a00562e3">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
 </li>
 <li>detected
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a5f3db3e66e4abf42eac6af5fc83519dc">CtoW_Calibrator_aruco</a>
 </li>
+<li>detected_masks
+: <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#aea79e641e00c820e01063fff1e5e2254">Puzzle_Residual</a>
+</li>
 <li>detectFG()
 : <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#a5f6b0074e32a9b923e5945c174da797d">bgmodelGMM</a>
 </li>
@@ -159,8 +207,7 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>display()
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#aa9af7c1cef86d4ab9325ce04ba347fd3">Color</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner2_1_1D435__Runner.html#aa057a80112c4f78a1c014b5e5154bb71">D435_Runner</a>
-, <a class="el" href="classpuzzle_1_1old__board_1_1Board.html#a6534ae839a5642191c36d15d6944bf55">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a5aca3f305a0734f62e4817f18b497e38">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a5aca3f305a0734f62e4817f18b497e38">Template</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">Basic</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ae7d580d7a6c588c74eac0cb338c135bd">SimTime</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ae7d580d7a6c588c74eac0cb338c135bd">SimTimeLess</a>
@@ -171,11 +218,22 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>display_cv()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a3f60079d13184132d4b6f71380961884">imageOccupancy</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">Board</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a66c8e08d55474793fd8fc667b0c22d7f">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a66c8e08d55474793fd8fc667b0c22d7f">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a75845c24a43617eadc8749a68100a0b4">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a75845c24a43617eadc8749a68100a0b4">TrackPointers</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd346864ab0ac7329fe17070130ee6c">centroid</a>
 </li>
 <li>display_mp()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">Board</a>
 </li>
+<li>display_results()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a1c6be8a08fb658321227cbd12377815f">RegionGrower_base</a>
+</li>
 <li>displayBoard
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a8ebe6485d68baa7ace485b6c83177046">Planner</a>
 </li>
@@ -220,8 +278,14 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>dragPieces()
 : <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">Basic</a>
 </li>
+<li>draw_height()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a66fbd5a9a09be4e850c7815441bf272c">Human_ColorSG_HeightInRange</a>
+</li>
+<li>draw_layer()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">Base</a>
+</li>
 <li>dtype
-: <a class="el" href="classpuzzle_1_1old__template_1_1PuzzleTemplate.html#acfe99d230e216901bd782cc580e4e815">PuzzleTemplate</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html#acfe99d230e216901bd782cc580e4e815">PuzzleTemplate</a>
 </li>
 <li>dump()
 : <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">AlgConfig</a>
diff --git a/docs/functions_e.html b/docs/functions_e.html
index cc046f81..89592985 100644
--- a/docs/functions_e.html
+++ b/docs/functions_e.html
@@ -76,6 +76,26 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">bgGaussian</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ae41cd8a9eb2f382e6706d5418bee3c83">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ae41cd8a9eb2f382e6706d5418bee3c83">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointers</a>
 </li>
 <li>emptyRegions()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a8f9ebb1252302b9cce333551f58e202a">imageOccupancy</a>
@@ -89,6 +109,27 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a9ee90969e62195d66d515fcdaf56bf6a">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a9ee90969e62195d66d515fcdaf56bf6a">Progress</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a9ee90969e62195d66d515fcdaf56bf6a">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a9ee90969e62195d66d515fcdaf56bf6a">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9ee90969e62195d66d515fcdaf56bf6a">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointers</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">centroid</a>
 </li>
 <li>ENDC
diff --git a/docs/functions_f.html b/docs/functions_f.html
index 93b97dfe..41632e29 100644
--- a/docs/functions_f.html
+++ b/docs/functions_f.html
@@ -65,6 +65,9 @@
 <div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
 
 <h3><a id="index_f"></a>- f -</h3><ul>
+<li>f_idx
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a88dfdf23780898e0a861e80bd6f1ef3f">Base_state</a>
+</li>
 <li>FAIL
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#adaf8c0a026a62515ee2af85bc6fd5da9">bcolors</a>
 </li>
@@ -120,6 +123,9 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 <li>filtered_harris_pts
 : <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a3b1b996ad21b500b2c823bb3ac48487a">Regular</a>
 </li>
+<li>final_mask
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2ae9de5bc2db74a603a01ed055c193bf">RegionGrower_base</a>
+</li>
 <li>findCorrectedContours()
 : <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a992c10bd96bf4e32c10a25049cf99dff">FromLayer</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a992c10bd96bf4e32c10a25049cf99dff">boardMeasure</a>
@@ -149,6 +155,8 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 , <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamRunner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamHand</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamST</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">Params</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">RG_Params</a>
 </li>
 <li>float2text()
 : <a class="el" href="classdrafts_1_1Announcement.html#aadfd4c2ce52f326857f226e6efccf10e">Announcement</a>
diff --git a/docs/functions_func.html b/docs/functions_func.html
index 2e91953c..e82d420a 100644
--- a/docs/functions_func.html
+++ b/docs/functions_func.html
@@ -67,6 +67,12 @@
 <h3><a id="index__5F"></a>- _ -</h3><ul>
 <li>__call__()
 : <a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html#ae112a20c5bdfc4d16c09cf7214d2b6a7">copyAttributes</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a72728c44f822dcddfd5556ff8d1310e4">DynamicDisplay</a>
+</li>
+<li>__contains__()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a2b73af84143b7d77149c735c95df0790">Params</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1dict2struct.html#a2b73af84143b7d77149c735c95df0790">dict2struct</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a2b73af84143b7d77149c735c95df0790">specifications</a>
 </li>
 <li>__del__()
 : <a class="el" href="classchannels_1_1toFile.html#a41a65d7030dd1006b177d0bc24e1a12b">toFile</a>
@@ -176,7 +182,7 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classperceiver_1_1reporting_1_1Reporter.html#af70c9c2d946ebd523f11120602f61511">Reporter</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">Board</a>
 , <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a418793636fd792a2b17e86fc767ccb78">CfgCorrespondences</a>
-, <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a844aa6e971fec4c085891ac1ea0cd050">Correspondences</a>
+, <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac23e729c5e2237cfec0f79ed7a94ad27">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">CfgAdjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aa88b7c7429d23b7d2fa17ffc752a4ac9">Arrangement</a>
@@ -188,8 +194,6 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a22f1563be721d914e89ef41efd3af7b1">ByColor</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#a6c44576e02fde5d764d87b3e780c79e5">ByShape</a>
 , <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a72c60f4b326acd286ffa488c97bab330">Manager</a>
-, <a class="el" href="classpuzzle_1_1old__board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#ae9247c1ed56e1db05ca3b0e01966fac2">Template</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a9fe5d48a7f4c6a7215fc6bc3b878d66a">FromLayer</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#af6c7a3f709feb7b34c6dae656b07899a">FromSketch</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#ac2126adb99433d6a491cb620dbc71afe">Simple</a>
@@ -230,6 +234,63 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#ac9b243262f2da5597509d957ede74cef">TwoAgent</a>
 , <a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html#a4a1aadb34aa4414d4e346f2aaf593d0d">copyAttributes</a>
 , <a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html#a65f556f65e30e8abfd67d1bba18d764d">TextRectException</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">Base</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Pick.html#ae64f0875afe3067b97ba370b354b9213">Pick</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Place.html#ae64f0875afe3067b97ba370b354b9213">Place</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a586ff62eb2ce0b6cb7d93bf191044a4a">Base_state</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#aa0c505454dd1ca2ca78e62121ec785a2">StateEstimator</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#ac84760345fc2977b8a1de1b09eff7f3c">DynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#abc1b785959b47505de72feabab160402">ActDecoder</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#aff24747c99da434ec48af92530b4e0f9">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#ae3117eb2fb4594af5d01e1da5a78ede3">ImageListener</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Base_bg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Base_fg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a39000bad924dc8be25adea30359eab50">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgPuzzlePerceiver.html#a418793636fd792a2b17e86fc767ccb78">CfgPuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a565d1ccd606c961b08b473cfe47c79ec">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae91dc874e20b1447436644d006da91e9">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a0c2c14a208de7aa36b7a38fb491a0b36">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgHandDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">CfgHandDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#af1d94040a762fca31ee9fefb2b9a8667">Human_ColorSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ac925a2258f71f3a4a886cd0098257714">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1c738de2be2b3952c998256db3960b11">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a418793636fd792a2b17e86fc767ccb78">CfgPuzzleScene</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#acd24f3a10491396e0947eb17e4ccd5fe">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae91dc874e20b1447436644d006da91e9">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#a5162304d394f5e986db3696e86607be0">robot_inRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#aa55642f4ad76b95326d5e6400e26ebcb">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afaf30d7077d95a3fa5a97255b98e914e">SceneInterpreterV1</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#a28836affa0fa9a7901ca270d33aa919c">tabletop_GMM</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1configs_1_1CfgNode.html#a418793636fd792a2b17e86fc767ccb78">CfgNode</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#af876869e8e1fcc2c37d8bec84e628a21">HeightEstimator</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1MaskGrower.html#aa97cef5be022892a61fe8176d75c0d2d">MaskGrower</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa97cef5be022892a61fe8176d75c0d2d">RegionGrower_base</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#aa97cef5be022892a61fe8176d75c0d2d">RegionGrower_ValDiff</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1dict2struct.html#a73d23b5b4859e9f8660c7d0f259f4df9">dict2struct</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a739c126697760ff6a83efd31af700812">specifications</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac9b73787395eeec8c4ee9d07f0baa61f">frameTransformer</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a7daf16268d7d94c657ed344a7a102a12">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a418793636fd792a2b17e86fc767ccb78">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">centroidMulti</a>
@@ -251,6 +312,12 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classtriggers_1_1whenFar.html#a8e6de7c28e95ac3dc8fdb240d15914e2">whenFar</a>
 , <a class="el" href="classtriggers_1_1whenSimilar.html#a8e6de7c28e95ac3dc8fdb240d15914e2">whenSimilar</a>
 </li>
+<li>__post_init__()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a41013be3459e5a9118b4aa276100034d">Params</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Params__Residual.html#a41013be3459e5a9118b4aa276100034d">Params_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html#a41013be3459e5a9118b4aa276100034d">Params</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html#a41013be3459e5a9118b4aa276100034d">Params_GMM</a>
+</li>
 <li>__setattr__()
 : <a class="el" href="classivapy_1_1Configuration_1_1AlgConfig.html#af055b1238dfa57009bb4a6df9c2b4981">AlgConfig</a>
 </li>
diff --git a/docs/functions_func_a.html b/docs/functions_func_a.html
index 4e298479..975fd46f 100644
--- a/docs/functions_func_a.html
+++ b/docs/functions_func_a.html
@@ -85,6 +85,29 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a72fbf2f30085967560d93851fdf9fe6b">Progress</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a72fbf2f30085967560d93851fdf9fe6b">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a1d7acf0a8fd28146835e3d467a0d8681">Planner</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a72fbf2f30085967560d93851fdf9fe6b">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a72fbf2f30085967560d93851fdf9fe6b">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a72fbf2f30085967560d93851fdf9fe6b">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a72fbf2f30085967560d93851fdf9fe6b">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a72fbf2f30085967560d93851fdf9fe6b">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">centroid</a>
 </li>
 <li>adapt_simulator()
@@ -119,6 +142,7 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 <li>apply()
 : <a class="el" href="classcamera_1_1tabletop_1_1height__estimator_1_1HeightEstimator.html#a47ffe5516812829bc638d67b2fca88ea">HeightEstimator</a>
 , <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a3ee8ed2487bba742a2be2dfb5cc88178">mask</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#a47ffe5516812829bc638d67b2fca88ea">HeightEstimator</a>
 </li>
 <li>apply_estimated_margins()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#aa31f7f85e97a53a42c31cc4742da5a96">inCornerEstimator</a>
diff --git a/docs/functions_func_b.html b/docs/functions_func_b.html
index 8d1a413f..966b994b 100644
--- a/docs/functions_func_b.html
+++ b/docs/functions_func_b.html
@@ -70,6 +70,8 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 </li>
 <li>build()
 : <a class="el" href="classpaths_1_1StepLines.html#ac38b63ac523d56951998db031ae1472b">StepLines</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a8ee1a1f8129e1e7437c6d7412c15ee1c">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#aae68451ed52f220fcd660b0c5efb01be">tabletop_GMM</a>
 </li>
 <li>build_for_RGB()
 : <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#ac79da5098a8e4042cf7929a551d86231">CfgHistogramCV</a>
@@ -104,6 +106,9 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildBasicPipeline()
 : <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#af1a4e96c5447617fcb2e6d9c1739aab9">Simple</a>
 </li>
+<li>buildCalibratedFromImage()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cdb1e047635e92559744e18f3128d44">Calibrator</a>
+</li>
 <li>buildColorMatchCV()
 : <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a5fdbe7ff06e5299c408581d874439257">CfgCorrespondences</a>
 </li>
@@ -131,6 +136,10 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1SphericalModel.html#ad91691ae303bf72342e7b696519264fd">SphericalModel</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ab474e90d2a82b1af880bcb8efe85e65b">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#aef3c7555640601680692dd3fa9948a55">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ab474e90d2a82b1af880bcb8efe85e65b">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4bc897f28de1b0ff5eb52fdd240faae8">Detectors</a>
 </li>
 <li>buildFromConfig()
 : <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ac77bfc6115e0703fa39a8f32fd556ce0">Distance</a>
@@ -138,6 +147,9 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFromFile()
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#a4c38ce390024a1819b38e6ba2c9ec2d9">Color</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner2_1_1D435__Runner.html#a4c38ce390024a1819b38e6ba2c9ec2d9">D435_Runner</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aa21d87aa1e4d13b5008be4f0e49ed31f">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">Perceiver</a>
 </li>
 <li>buildFromFile_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">Adjacent</a>
@@ -160,16 +172,27 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFromImage()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#aa9b5cd5cdac569cbc417db072bdf1642">targetNeon</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#afef14ba0017f72087d069c5fe3dbb598">targetSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a4a745db10619d5f5ed3c1e850fa99a4f">Human_ColorSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a123c7d41f4ab1a659db983fcf75a25f7">Human_ColorSG_HeightInRange</a>
 </li>
 <li>buildFromMaskAndImage()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a7237c71d74c43fa2eda6de099325d6bb">Template</a>
-, <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a093d817147278d440b80cf331713b75e">Regular</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a093d817147278d440b80cf331713b75e">Regular</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1Template.html#affd9df85ce55a368225f6562198e6249">Template</a>
 </li>
 <li>buildFromPolygons()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#ad1b801b42ed4c3c6f355e816bac77205">imageOccupancy</a>
 , <a class="el" href="classbyRegion_1_1imageRegions.html#ad1b801b42ed4c3c6f355e816bac77205">imageRegions</a>
 </li>
+<li>buildFromRosbag()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#aa7616a745363f770214a417ef80e7e06">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a568518935021f44ffa9d1c8f3e30b897">SceneInterpreterV1</a>
+</li>
+<li>buildFromSourceDir()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a31f026e0f9ba62ed6d7004202cfb9356">SceneInterpreterV1</a>
+</li>
+<li>buildFromSourcePub()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a475fbf3740111eca4032186bfac92f03">SceneInterpreterV1</a>
+</li>
 <li>buildGroupWithAnnouncement()
 : <a class="el" href="classperceiver_1_1reporting_1_1BeatReporter.html#ab1dc85ffbbdb9f9faf451356acfaf8a0">BeatReporter</a>
 </li>
@@ -181,6 +204,7 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 </li>
 <li>buildImgDiff()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a83a10cc94198eae648f8a44163a1a7ac">targetSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a270e0455b0b1a0b4b5fb35f536f60429">Human_ColorSG_HeightInRange</a>
 </li>
 <li>buildMatcher()
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a4a39973fb0707cf0768d4fc141a4b9d2">Correspondences</a>
@@ -188,22 +212,28 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildNearest()
 : <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a370d3df9068a77a0975e9769ed7b52cc">CfgCorrespondences</a>
 </li>
+<li>buildPub()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ab6e2df08333381b54765a90195ef8028">BaseSurveillanceDeploy</a>
+</li>
 <li>buildSimple()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ae4088583de6ba48160af133988edfbcf">targetNeon</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a960cb93636b87baf39ec87e476d4101f">targetSG</a>
 </li>
 <li>buildSphere()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a17e03c4e546a0c7ae44095be46f6a5a4">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a7add1ee8c9b2504451399792bd931846">Template</a>
 </li>
 <li>buildSphereAgent()
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#af1dad5fc1e52e729b01ebb456cc72c47">Hand</a>
 </li>
 <li>buildSquare()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a25595eb29f8cc161cad172dcc463dc18">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#afa36410bed74cde54a141515dc3fec2b">Template</a>
 </li>
 <li>buildSquareAgent()
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a9ed94a91dd0690fc6772dfb603c33620">Hand</a>
 </li>
+<li>buildWithBasicTracker()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a8d82af2a1c4cc2d819f0468bc3deb539">PuzzlePerceiver</a>
+</li>
 <li>builtForBlackMat()
 : <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGM.html#a001046fb8860872c5848b43f85912996">CfgSGM</a>
 </li>
diff --git a/docs/functions_func_c.html b/docs/functions_func_c.html
index 07effbbf..da048b2a 100644
--- a/docs/functions_func_c.html
+++ b/docs/functions_func_c.html
@@ -84,6 +84,14 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a0791490a3fd6a552c4e91dbc484eb9b8">targetSG</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a8d2c1ff850bd34e3077458b7d409b479">RealSolver</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2de434e4ed5245432b7d460326696c81">SimTime</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#a50a4d24eb4e9ccb07985e1563c99586b">tabletop_GMM</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#a0b1f346fbf061cc57de33ac90e6d8105">HeightEstimator</a>
+</li>
+<li>calibrate2config()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4498702614e2397a06ca0cd53000b0d3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#af883f30b0307ace54b0bb0c4970e62bf">Detectors</a>
 </li>
 <li>calibrate_from_data()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#afd0e7519f6db389b1ef4184930928a25">inCorner</a>
@@ -107,6 +115,12 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>calibSimple()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#a8d0467d7a2dee45e708849e1c5b4c1b3">targetNeon</a>
 </li>
+<li>callback_activity()
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a6c38138a0a87d6e1570691fd177e83bb">ImageListener</a>
+</li>
+<li>callback_rgbd()
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a8e63de723e01536107dd3d8889dd92f2">ImageListener</a>
+</li>
 <li>capture()
 : <a class="el" href="classcamera_1_1base_1_1ReplayColor.html#a9c0d11611d4a68393e18a7cb04d34756">ReplayColor</a>
 , <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#a9c0d11611d4a68393e18a7cb04d34756">Color</a>
@@ -169,6 +183,29 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#ad1017975e2cf3f6aad2eb699e576acfb">Progress</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ad1017975e2cf3f6aad2eb699e576acfb">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#ad1017975e2cf3f6aad2eb699e576acfb">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad1017975e2cf3f6aad2eb699e576acfb">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad1017975e2cf3f6aad2eb699e576acfb">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad1017975e2cf3f6aad2eb699e576acfb">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad1017975e2cf3f6aad2eb699e576acfb">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad1017975e2cf3f6aad2eb699e576acfb">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">centroid</a>
 </li>
 <li>corrections()
diff --git a/docs/functions_func_d.html b/docs/functions_func_d.html
index 57f0ab6f..9f655546 100644
--- a/docs/functions_func_d.html
+++ b/docs/functions_func_d.html
@@ -68,14 +68,40 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>dateof()
 : <a class="el" href="classdrafts_1_1Announcement.html#a12b1ea6defea0c423e979ede49c944f7">Announcement</a>
 </li>
+<li>decode()
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ad8a859a39295b26d9f586354a44912ce">ActDecoder</a>
+</li>
 <li>depthCB()
 : <a class="el" href="classcamera_1_1rostopic_1_1RGBD.html#a87db2f1453f66f080e5c2dbf1190b8c8">RGBD</a>
 </li>
+<li>det_mask()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a1ade44fd4633027a680eae6c5c878b16">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a1ade44fd4633027a680eae6c5c878b16">Base_bg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">Base_fg</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a1ade44fd4633027a680eae6c5c878b16">Human_ColorSG</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1ade44fd4633027a680eae6c5c878b16">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#a1ade44fd4633027a680eae6c5c878b16">robot_inRange</a>
+</li>
 <li>detect()
 : <a class="el" href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">Base</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#af900d1f3aa432a649c1fa2bcc276c414">bgmodelGMM_cv</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#aa8c9f0fd77bd628012d6fcb1d07f13f0">fgGaussian</a>
 , <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2bbb50d8c85e39e051675be235b4eeac">fromState</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a870baf8ed8c5e8ab984e620732abaa92">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4b9eb4438bf990362c9afce4a00562e3">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">Perceiver</a>
 </li>
 <li>detectFG()
 : <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#a5f6b0074e32a9b923e5945c174da797d">bgmodelGMM</a>
@@ -89,8 +115,7 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>display()
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#aa9af7c1cef86d4ab9325ce04ba347fd3">Color</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner2_1_1D435__Runner.html#aa057a80112c4f78a1c014b5e5154bb71">D435_Runner</a>
-, <a class="el" href="classpuzzle_1_1old__board_1_1Board.html#a6534ae839a5642191c36d15d6944bf55">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a5aca3f305a0734f62e4817f18b497e38">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a5aca3f305a0734f62e4817f18b497e38">Template</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">Basic</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ae7d580d7a6c588c74eac0cb338c135bd">SimTime</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ae7d580d7a6c588c74eac0cb338c135bd">SimTimeLess</a>
@@ -101,11 +126,22 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>display_cv()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a3f60079d13184132d4b6f71380961884">imageOccupancy</a>
 , <a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">Board</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a66c8e08d55474793fd8fc667b0c22d7f">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a66c8e08d55474793fd8fc667b0c22d7f">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a75845c24a43617eadc8749a68100a0b4">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a75845c24a43617eadc8749a68100a0b4">TrackPointers</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd346864ab0ac7329fe17070130ee6c">centroid</a>
 </li>
 <li>display_mp()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">Board</a>
 </li>
+<li>display_results()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a1c6be8a08fb658321227cbd12377815f">RegionGrower_base</a>
+</li>
 <li>displayDebug()
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#ac7f009681b64d47ba0b3079743f1e1c2">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#adf4237d0bd0be22baa530fa781f1b359">Perceiver</a>
@@ -138,6 +174,12 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>dragPieces()
 : <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">Basic</a>
 </li>
+<li>draw_height()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a66fbd5a9a09be4e850c7815441bf272c">Human_ColorSG_HeightInRange</a>
+</li>
+<li>draw_layer()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">Base</a>
+</li>
 <li>dump()
 : <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">AlgConfig</a>
 </li>
diff --git a/docs/functions_func_e.html b/docs/functions_func_e.html
index 4f0d59df..c50f79ac 100644
--- a/docs/functions_func_e.html
+++ b/docs/functions_func_e.html
@@ -70,6 +70,26 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">bgGaussian</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#ae41cd8a9eb2f382e6706d5418bee3c83">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#ae41cd8a9eb2f382e6706d5418bee3c83">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ae41cd8a9eb2f382e6706d5418bee3c83">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae41cd8a9eb2f382e6706d5418bee3c83">TrackPointers</a>
 </li>
 <li>emptyRegions()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a8f9ebb1252302b9cce333551f58e202a">imageOccupancy</a>
@@ -83,6 +103,27 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a9ee90969e62195d66d515fcdaf56bf6a">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a9ee90969e62195d66d515fcdaf56bf6a">Progress</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a9ee90969e62195d66d515fcdaf56bf6a">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a9ee90969e62195d66d515fcdaf56bf6a">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9ee90969e62195d66d515fcdaf56bf6a">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a9ee90969e62195d66d515fcdaf56bf6a">TrackPointers</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">centroid</a>
 </li>
 <li>erode()
diff --git a/docs/functions_func_g.html b/docs/functions_func_g.html
index e7b35588..429e9744 100644
--- a/docs/functions_func_g.html
+++ b/docs/functions_func_g.html
@@ -82,6 +82,9 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4946ea6f0c4972df34d36a024788a5a3">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a4946ea6f0c4972df34d36a024788a5a3">centroidMulti</a>
 </li>
+<li>get_activity()
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#acd22528d47392c4fde6067d0ce914bf5">ActDecoder</a>
+</li>
 <li>get_cache_results()
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a3cfbabc7c5e7324b1ec7e6200c58920c">mask</a>
 </li>
@@ -128,6 +131,10 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgMatcher</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgSimilar</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgSIFTCV</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgHandDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPuzzleScene</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentMulti</a>
 , <a class="el" href="classtriggers_1_1BuildCfgTrigger.html#a2a49d49fc8fc3be34d358f8a4a0e75be">BuildCfgTrigger</a>
@@ -137,6 +144,9 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>get_fg_imgDiff()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a82ff25979bc20c2539372d0df9bdd412">targetSG</a>
 </li>
+<li>get_final_mask()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a531f6508fd8181b76ca31e8bc1f46818">RegionGrower_base</a>
+</li>
 <li>get_frames()
 : <a class="el" href="classcamera_1_1base_1_1Base.html#acaac8c348b0df40063d743af07282e7b">Base</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a63ddc07396d9c96dd7278ac34bb1f75f">D435_Runner</a>
@@ -146,6 +156,18 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classcamera_1_1rostopic_1_1Depth.html#acaac8c348b0df40063d743af07282e7b">Depth</a>
 , <a class="el" href="classcamera_1_1rostopic_1_1RGBD.html#acaac8c348b0df40063d743af07282e7b">RGBD</a>
 </li>
+<li>get_init_mask()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a5c186419606f7e9348f132446a060b46">RegionGrower_base</a>
+</li>
+<li>get_layer()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afe107e18903fdb4b99b27bf6e26e5abb">SceneInterpreterV1</a>
+</li>
+<li>get_mask()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">Base</a>
+</li>
+<li>get_nonROI()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ab7c5cc7c1c708a33c7edea7f26515c29">SceneInterpreterV1</a>
+</li>
 <li>get_PCA_results()
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#aee2de61f19321b108750b89689b96ccb">tabletopPlaneEstimator</a>
 </li>
@@ -155,6 +177,15 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>get_save_path_from_input()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ae7efcddf39edf2c39ad7f86c925881f5">D435RecBase</a>
 </li>
+<li>get_state()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">Base</a>
+</li>
+<li>get_states()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#ab4dea73d1d875356d9cdde9ade8dd32e">Base_state</a>
+</li>
+<li>get_trackers()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad4795eaddab88da28b99efa8f8c68eea">SceneInterpreterV1</a>
+</li>
 <li>getBackground()
 : <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">fgAppearance</a>
 </li>
@@ -170,10 +201,30 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a86e33c39d3c54a6ebba54b5a0ebf9787">bgmodelGMM_cv</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a86e33c39d3c54a6ebba54b5a0ebf9787">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a86e33c39d3c54a6ebba54b5a0ebf9787">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointers</a>
+</li>
+<li>getDebugState()
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a63366f4d6cb65a7a04c5446d0fd35b8d">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">Perceiver</a>
 </li>
 <li>getEig()
 : <a class="el" href="classpca_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">PCA</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#ad405a9976110567b71f7e2ce51a35401">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad405a9976110567b71f7e2ce51a35401">Template</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">PCA</a>
 </li>
 <li>getFeature()
@@ -192,7 +243,7 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a7f0f667d69f0c782e6f1cb96a64369fd">mask</a>
 </li>
 <li>getMask()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#ac1d6f60502cfe53549dc10ce09145b93">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#ac1d6f60502cfe53549dc10ce09145b93">Template</a>
 </li>
 <li>getMeaBoard()
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ae10374fc92b3a04bf0b37e5bd2f38a17">RealSolver</a>
@@ -227,6 +278,28 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a18bb39f68bce281f0f163fd96bb09a8c">Progress</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a18bb39f68bce281f0f163fd96bb09a8c">FromLayer</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a18bb39f68bce281f0f163fd96bb09a8c">boardMeasure</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a18bb39f68bce281f0f163fd96bb09a8c">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a18bb39f68bce281f0f163fd96bb09a8c">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a18bb39f68bce281f0f163fd96bb09a8c">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointers</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">centroid</a>
 </li>
 <li>getTrackBoard()
diff --git a/docs/functions_func_h.html b/docs/functions_func_h.html
index 5f898197..9a672b21 100644
--- a/docs/functions_func_h.html
+++ b/docs/functions_func_h.html
@@ -65,9 +65,11 @@
 &#160;
 
 <h3><a id="index_h"></a>- h -</h3><ul>
+<li>HungarianAssignment()
+: <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3857f24a8b8db87eec172c2662af2d02">Correspondences</a>
+</li>
 <li>hungarianAssignment()
-: <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a0ce58078687848aeeb74c0de5aef04dd">Correspondences</a>
-, <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a123cb12e4694a2aebfcc779166a3c707">Manager</a>
+: <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a123cb12e4694a2aebfcc779166a3c707">Manager</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_func_i.html b/docs/functions_func_i.html
index c2feb9ae..db2820f3 100644
--- a/docs/functions_func_i.html
+++ b/docs/functions_func_i.html
@@ -78,6 +78,23 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4cbc8f16a0b6cd68f685de5561a0c618">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4cbc8f16a0b6cd68f685de5561a0c618">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4cbc8f16a0b6cd68f685de5561a0c618">Progress</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointers</a>
 </li>
 <li>init_vidWriter()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ad6c89f008c383aaf6112f6a154f336f4">D435RecBase</a>
diff --git a/docs/functions_func_l.html b/docs/functions_func_l.html
index 0c2646e0..c0054dbf 100644
--- a/docs/functions_func_l.html
+++ b/docs/functions_func_l.html
@@ -75,6 +75,11 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#acb0cabfab6a668db8dc47456dbde561c">inCorner</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#acb0cabfab6a668db8dc47456dbde561c">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#acb0cabfab6a668db8dc47456dbde561c">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a8b2c40fd304f67a2698e1c9ce6b581e8">Detectors</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a89f8212d49a22eb5bf7eb7ff2e33f3b5">specifications</a>
 </li>
 <li>loadFrom()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a2e9393c490f0a93fcc9e284ffd6abab1">imageOccupancy</a>
@@ -87,6 +92,10 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html#a4127c58f469a0afaf254ec2370e176e4">PlanarModel</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4127c58f469a0afaf254ec2370e176e4">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a016768f0d8e23ac245a1b74b27021608">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4ae90a1593014fd597a8426210ac7174">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a016768f0d8e23ac245a1b74b27021608">Detectors</a>
 </li>
 <li>loadFromYAML()
 : <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#aad0fb849b35c7ee50f3b21fa6922741e">fgGaussian</a>
diff --git a/docs/functions_func_m.html b/docs/functions_func_m.html
index 285079fe..8f1d3fb9 100644
--- a/docs/functions_func_m.html
+++ b/docs/functions_func_m.html
@@ -114,6 +114,35 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a3b2484cc8a22705b2445b73498455ae6">boardMeasure</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a19b46941fa572f13c44c35eb65d65fee">boardPerceive</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4c929e144b06b17fd349cc7601a3c747">Planner</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a3f47213028c5bd7e7bf8516db1b13044">Base</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#afcb58d3f4cef0741e4bedfdfd9937edd">Base_state</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a0d5906ea66dea1bea82847c1c21b8a0b">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad17eaba369e442d6a16fa52f3cb41762">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad17eaba369e442d6a16fa52f3cb41762">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad17eaba369e442d6a16fa52f3cb41762">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ad17eaba369e442d6a16fa52f3cb41762">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad17eaba369e442d6a16fa52f3cb41762">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4c929e144b06b17fd349cc7601a3c747">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad17eaba369e442d6a16fa52f3cb41762">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">centroidMulti</a>
 , <a class="el" href="classtrackpointer_1_1toplines_1_1fromBottom.html#ad17eaba369e442d6a16fa52f3cb41762">fromBottom</a>
@@ -122,6 +151,9 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 <li>measure_plane()
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#a2be06bc7607224f10932bd37689c8a56">tabletopPlaneEstimator</a>
 </li>
+<li>merge_from_files()
+: <a class="el" href="classSurveillance_1_1utils_1_1configs_1_1CfgNode.html#a40212edf9eb89c9bbf7fef90d14fa05f">CfgNode</a>
+</li>
 <li>message()
 : <a class="el" href="classdrafts_1_1Announcement.html#af418c502269da2fa1127237934c61a47">Announcement</a>
 , <a class="el" href="classdrafts_1_1Commentary.html#af418c502269da2fa1127237934c61a47">Commentary</a>
diff --git a/docs/functions_func_p.html b/docs/functions_func_p.html
index b4698774..92443893 100644
--- a/docs/functions_func_p.html
+++ b/docs/functions_func_p.html
@@ -65,6 +65,34 @@
 &#160;
 
 <h3><a id="index_p"></a>- p -</h3><ul>
+<li>parse()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a9858f5e1a6c6dc57d33624584fd9886e">Base_state</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a64c49966bde4f222ddb7e7f7c17ec226">StateEstimator</a>
+</li>
+<li>parse_move()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a450bf2386a831696ea47dc70bb55a69c">StateEstimator</a>
+</li>
+<li>parse_PinH()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a7474e580725ee053a48612793e1253">StateEstimator</a>
+</li>
+<li>parse_progress()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae7646cb1c3ffdc05383c5f3e8329d5bd">StateEstimator</a>
+</li>
+<li>parseDepth()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a0278f74e7c51cadb10507dbd45262f94">frameTransformer</a>
+</li>
+<li>parsePBEV()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a790f3b7691237c2621744e477c6733c5">frameTransformer</a>
+</li>
+<li>parsePCam()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a339718f0a61188ced460a2aecfc186fa">frameTransformer</a>
+</li>
+<li>parsePImg()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac64bca68655166739ce7c34da8d04122">frameTransformer</a>
+</li>
+<li>parsePRob()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#aee8400cfb29cd9dfbd5caef732bb3fa1">frameTransformer</a>
+</li>
 <li>passthrough()
 : <a class="el" href="classdrafts_1_1Announcement.html#a5b17b51e79b6a1fce6c70b336f27812a">Announcement</a>
 </li>
@@ -93,11 +121,11 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#adb66f9faea15eef67bf92e207ec73de2">Hand</a>
 </li>
 <li>placeInImage()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a2a08605d5ae67c5bae9d4f39f321943d">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2a08605d5ae67c5bae9d4f39f321943d">Template</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad477a0d4deb469c7726e2a7a594222a1">Hand</a>
 </li>
 <li>placeInImageAt()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a30ece36acb64b9d8cc4c477a2b347211">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a30ece36acb64b9d8cc4c477a2b347211">Template</a>
 </li>
 <li>planGreedyTSP()
 : <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a4fc0be821f8a1349b086683f16fcd778">Simple</a>
@@ -108,6 +136,17 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>planOrdered()
 : <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2757d0319c98e02b205c106d266a5f73">Simple</a>
 </li>
+<li>plot_states()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae0498ceb65c213e746f4b5dc95ef562b">StateEstimator</a>
+</li>
+<li>post_process()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a02a795646b735d09b4e4d3f151b132e9">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a02a795646b735d09b4e4d3f151b132e9">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a02a795646b735d09b4e4d3f151b132e9">robot_inRange_Height</a>
+</li>
+<li>postprocess()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a26f5316a06d27c357a696627987cfb15">BaseSurveillanceDeploy</a>
+</li>
 <li>postprocess_save_path()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#a919af91bbca9ba8047457930de6f67b9">D435RecBase</a>
 </li>
@@ -122,6 +161,27 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4dd85ce87569585c592b0dd0638c0dfd">Progress</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#a4dd85ce87569585c592b0dd0638c0dfd">FromSketch</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4dd85ce87569585c592b0dd0638c0dfd">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a4dd85ce87569585c592b0dd0638c0dfd">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4dd85ce87569585c592b0dd0638c0dfd">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4dd85ce87569585c592b0dd0638c0dfd">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">centroid</a>
 </li>
 <li>prepare()
@@ -168,9 +228,36 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a208d75fc3c64ff1c83c113a750c8103c">RealSolver</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9c6e2fa490003e64846ab5cd5cb7bb68">Planner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#a5b3eea323714b6f50ef7e00fe1938575">PlannerHand</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">Base</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a156ea13bc449d3f40b4c6772ccb3308c">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a15b5b23376c42a855847f9b74cdc07b3">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a15b5b23376c42a855847f9b74cdc07b3">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a15b5b23376c42a855847f9b74cdc07b3">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ae7ea0e57263609b9fc86c2f0bde7294b">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a15b5b23376c42a855847f9b74cdc07b3">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">centroidMulti</a>
 </li>
+<li>process_depth()
+: <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a7cc6ec34f5198ff4402624fbcf210ea7">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a7cc6ec34f5198ff4402624fbcf210ea7">SceneInterpreterV1</a>
+</li>
 <li>process_frame()
 : <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#aea48cbeb4556e6b9403aa20b0b1bddeb">Replay</a>
 </li>
@@ -180,9 +267,15 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>process_loop()
 : <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#a914585dea8950415b5bfa7030fb3307c">Replay</a>
 </li>
+<li>process_mask()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0b84a68abf1941507b350506ad34729b">RegionGrower_base</a>
+</li>
 <li>process_ROS()
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a8b3ac4080f6efaea8609e5cb84dac762">RealSolverROS</a>
 </li>
+<li>process_seeds()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa35b1253d695aaf7a9e3d8e727227826">RegionGrower_base</a>
+</li>
 <li>processAdjacency()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">Adjacent</a>
 </li>
@@ -193,6 +286,12 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a71a513e1c39c80a8b05a13421b70cbce">RealSolver</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac4e9b83bd359a696c197da4862896054">Basic</a>
 </li>
+<li>publish_activity()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4e41e2d032b988fb4900169e014a99a1">BaseSurveillanceDeploy</a>
+</li>
+<li>publish_data()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a5dddbd1fc374295d2dde19668c501a91">BaseSurveillanceDeploy</a>
+</li>
 <li>publish_ROS()
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a3b15409bbe03f81e3d0c40a8d28aa759">RealSolverROS</a>
 </li>
diff --git a/docs/functions_func_r.html b/docs/functions_func_r.html
index 42ef7adf..691d1933 100644
--- a/docs/functions_func_r.html
+++ b/docs/functions_func_r.html
@@ -127,12 +127,15 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#aac54cdcc52a959a2dce7e11d8d3ca551">Hand</a>
 </li>
 <li>rotatePiece()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">Template</a>
-, <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aed5219e329d1c20a9ff74a315433dba0">Regular</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aed5219e329d1c20a9ff74a315433dba0">Regular</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">Template</a>
 </li>
 <li>run()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ad22709b2e67308af35f55680d5a026e0">D435RecBase</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ad22709b2e67308af35f55680d5a026e0">BaseSurveillanceDeploy</a>
+</li>
+<li>run_system()
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a514a6ac8bc08f9b06893b957f8acd431">ImageListener</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_func_s.html b/docs/functions_func_s.html
index 765c06ef..b4e78251 100644
--- a/docs/functions_func_s.html
+++ b/docs/functions_func_s.html
@@ -69,6 +69,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">Base</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ad1246a56211fcb6db5d3c3c093a9063a">bgmodelGMM_cv</a>
 </li>
+<li>save_data()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a0848a525e23f9e10289ab7a6eeca2078">BaseSurveillanceDeploy</a>
+</li>
 <li>save_frame()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#aa6e6419f69d32eb4235ce2c4c84e52cd">D435RecBase</a>
 , <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecRosbag.html#aa6e6419f69d32eb4235ce2c4c84e52cd">D435RecRosbag</a>
@@ -81,6 +84,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>saveConfig()
 : <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">Calibrator</a>
 </li>
 <li>saveMod()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#aa2f0c1bde1a480a20b1a26aac02d6536">targetSG</a>
@@ -100,6 +106,18 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a2d052ae6ae0dc395ed468285493dbc4c">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a2d052ae6ae0dc395ed468285493dbc4c">fgGaussian</a>
 , <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2d052ae6ae0dc395ed468285493dbc4c">fromState</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a2d052ae6ae0dc395ed468285493dbc4c">Detectors</a>
 </li>
 <li>scalarDist()
 : <a class="el" href="classtriggers_1_1CfgDistTrigger.html#acde29bd476149cf9fffa1caff7e20910">CfgDistTrigger</a>
@@ -152,6 +170,15 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>set_configs()
 : <a class="el" href="classcamera_1_1base_1_1Base.html#ae4dc63aa0ffa4f17571277c6faddac7c">Base</a>
 </li>
+<li>set_detected_masks()
+: <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#ac28d6b90aea155426cabe2615fc0ea1f">Puzzle_Residual</a>
+</li>
+<li>set_from_dict()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#af394f69c5e8e850836778c3b430b4368">Params</a>
+</li>
+<li>set_from_yaml()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#aa443eb89abb7ac71f5cb06b4898e8e76">Params</a>
+</li>
 <li>set_intrinsic()
 : <a class="el" href="classcamera_1_1base_1_1Base.html#a4440fce18e69ac32c34d3288daa9e8bf">Base</a>
 </li>
@@ -171,6 +198,10 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>setIfMissing()
 : <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ac9f7bc8117e3762e4ffeadd7525de3d6">centroid</a>
 </li>
+<li>setMask()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a354fd39c945e2ad77c9d3b8145c17752">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a354fd39c945e2ad77c9d3b8145c17752">Detector</a>
+</li>
 <li>setMatch()
 : <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a1e8180dcffe198694d6ce1d4afed753a">Simple</a>
 , <a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#a2eccb0eb4e64e5cc74a19c3ca9f22586">TwoAgent</a>
@@ -179,7 +210,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">Basic</a>
 </li>
 <li>setPlacement()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a0e793d6c2d6aca31021a97dc7a564f12">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#af7cfa5c8d148b6ce6d80b8959a51fe90">Template</a>
 </li>
 <li>setPose()
 : <a class="el" href="classtrackpointer_1_1utils_1_1fakeTriangle_1_1fakeTriangle.html#a7b3e4275dc0365b5a088ad7a66baf659">fakeTriangle</a>
@@ -215,7 +246,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>size()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">Template</a>
 </li>
 <li>specify_model()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a0d12c1a45a6ba85e80a7f15bbbd70b98">inCorner</a>
diff --git a/docs/functions_func_t.html b/docs/functions_func_t.html
index 15782f2a..8cc99c19 100644
--- a/docs/functions_func_t.html
+++ b/docs/functions_func_t.html
@@ -100,7 +100,7 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 </li>
 <li>toImage()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a7980ac02452465cec91c19514d041202">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a7980ac02452465cec91c19514d041202">Template</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">Basic</a>
 </li>
 <li>toiterable()
diff --git a/docs/functions_func_u.html b/docs/functions_func_u.html
index e3802b28..6bcb1887 100644
--- a/docs/functions_func_u.html
+++ b/docs/functions_func_u.html
@@ -68,13 +68,28 @@ <h3><a id="index_u"></a>- u -</h3><ul>
 <li>update()
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a852118613d88430c90d5ce9be2505773">CtoW_Calibrator_aruco</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0d9d50aee8666e4242f46920d7b9a5ea">Template</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a1eec535b9845bd66901c9157c5b58978">Base_state</a>
+</li>
+<li>update_depth()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a797988a5460248ee2d7b9eb6b27746c1">Human_ColorSG_HeightInRange</a>
+</li>
+<li>update_height_map()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a78ed19bd73ce1dbfffaff496c209961e">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a78ed19bd73ce1dbfffaff496c209961e">robot_inRange_Height</a>
 </li>
 <li>update_intrinsic()
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#ae7db228a277f6df17e13f084b3ae1696">CtoW_Calibrator_aruco</a>
 </li>
+<li>update_params()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aba339157c963a999b35e75d846ab4404">Base</a>
+</li>
 <li>update_paths()
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1frameWriter.html#a96a1a6f7ecde8544f423a2270c7a0705">frameWriter</a>
 </li>
+<li>update_postprocess()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a8aa8e0ac3684dcd56836e5e41a99c3bb">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a8aa8e0ac3684dcd56836e5e41a99c3bb">Puzzle_Residual</a>
+</li>
 <li>update_th()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a9088b7c8327a103bd8b37845a24ebe8b">targetSG</a>
 </li>
diff --git a/docs/functions_func_v.html b/docs/functions_func_v.html
index 48994974..97f18492 100644
--- a/docs/functions_func_v.html
+++ b/docs/functions_func_v.html
@@ -65,9 +65,36 @@
 &#160;
 
 <h3><a id="index_v"></a>- v -</h3><ul>
+<li>vis()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a9943b4e5a95a4484307697f222afb386">BaseSurveillanceDeploy</a>
+</li>
+<li>vis_input()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4011d7c5165981a73f2bf338cd832df3">BaseSurveillanceDeploy</a>
+</li>
+<li>vis_layer()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#acf49d40e5b63d13797daf9bb5dd4d098">SceneInterpreterV1</a>
+</li>
+<li>vis_near_hand_puzzles()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a1203240d3543fdf27b5c9c13b96c28db">BaseSurveillanceDeploy</a>
+</li>
 <li>vis_plane()
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#ade18737b5551561a997648b0f33dd756">tabletopPlaneEstimator</a>
 </li>
+<li>vis_puzzles()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4e60404be734751899afb73dcbbb781d">SceneInterpreterV1</a>
+</li>
+<li>vis_results()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4073583dad3e80815b4ba3d0554d7389">BaseSurveillanceDeploy</a>
+</li>
+<li>vis_scene()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a1fe5c6c8163ab2803ff44d85e17238c1">SceneInterpreterV1</a>
+</li>
+<li>visualize()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ab89d735316a9c5c52428507f40f6394c">StateEstimator</a>
+</li>
+<li>visualize_state_evolving()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a751babe7c132b73be1c74543a2ca0589">Base_state</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_g.html b/docs/functions_g.html
index 06250b75..4a2c36ef 100644
--- a/docs/functions_g.html
+++ b/docs/functions_g.html
@@ -81,6 +81,9 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>gCW
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#a66b997996f0a4b6a52ef106410719f9f">Color</a>
 </li>
+<li>general
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#ad797829e3284fd15f2780269ce9bb6dc">specifications</a>
+</li>
 <li>genFeature()
 : <a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad724e6a85ff7dd46e58c0aff32904e79">Template</a>
 </li>
@@ -98,6 +101,9 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4946ea6f0c4972df34d36a024788a5a3">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a4946ea6f0c4972df34d36a024788a5a3">centroidMulti</a>
 </li>
+<li>get_activity()
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#acd22528d47392c4fde6067d0ce914bf5">ActDecoder</a>
+</li>
 <li>get_cache_results()
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a3cfbabc7c5e7324b1ec7e6200c58920c">mask</a>
 </li>
@@ -144,6 +150,10 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgMatcher</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgSimilar</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgSIFTCV</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgHandDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPuzzleScene</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentMulti</a>
 , <a class="el" href="classtriggers_1_1BuildCfgTrigger.html#a2a49d49fc8fc3be34d358f8a4a0e75be">BuildCfgTrigger</a>
@@ -153,6 +163,9 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>get_fg_imgDiff()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a82ff25979bc20c2539372d0df9bdd412">targetSG</a>
 </li>
+<li>get_final_mask()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a531f6508fd8181b76ca31e8bc1f46818">RegionGrower_base</a>
+</li>
 <li>get_frames()
 : <a class="el" href="classcamera_1_1base_1_1Base.html#acaac8c348b0df40063d743af07282e7b">Base</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a63ddc07396d9c96dd7278ac34bb1f75f">D435_Runner</a>
@@ -162,6 +175,18 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classcamera_1_1rostopic_1_1Depth.html#acaac8c348b0df40063d743af07282e7b">Depth</a>
 , <a class="el" href="classcamera_1_1rostopic_1_1RGBD.html#acaac8c348b0df40063d743af07282e7b">RGBD</a>
 </li>
+<li>get_init_mask()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a5c186419606f7e9348f132446a060b46">RegionGrower_base</a>
+</li>
+<li>get_layer()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afe107e18903fdb4b99b27bf6e26e5abb">SceneInterpreterV1</a>
+</li>
+<li>get_mask()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">Base</a>
+</li>
+<li>get_nonROI()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ab7c5cc7c1c708a33c7edea7f26515c29">SceneInterpreterV1</a>
+</li>
 <li>get_PCA_results()
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#aee2de61f19321b108750b89689b96ccb">tabletopPlaneEstimator</a>
 </li>
@@ -171,6 +196,15 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>get_save_path_from_input()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ae7efcddf39edf2c39ad7f86c925881f5">D435RecBase</a>
 </li>
+<li>get_state()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">Base</a>
+</li>
+<li>get_states()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#ab4dea73d1d875356d9cdde9ade8dd32e">Base_state</a>
+</li>
+<li>get_trackers()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ad4795eaddab88da28b99efa8f8c68eea">SceneInterpreterV1</a>
+</li>
 <li>getBackground()
 : <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">fgAppearance</a>
 </li>
@@ -186,10 +220,30 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a86e33c39d3c54a6ebba54b5a0ebf9787">bgmodelGMM_cv</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a86e33c39d3c54a6ebba54b5a0ebf9787">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a86e33c39d3c54a6ebba54b5a0ebf9787">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a86e33c39d3c54a6ebba54b5a0ebf9787">TrackPointers</a>
+</li>
+<li>getDebugState()
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a63366f4d6cb65a7a04c5446d0fd35b8d">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">Perceiver</a>
 </li>
 <li>getEig()
 : <a class="el" href="classpca_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">PCA</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#ad405a9976110567b71f7e2ce51a35401">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad405a9976110567b71f7e2ce51a35401">Template</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">PCA</a>
 </li>
 <li>getFeature()
@@ -208,7 +262,7 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a7f0f667d69f0c782e6f1cb96a64369fd">mask</a>
 </li>
 <li>getMask()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#ac1d6f60502cfe53549dc10ce09145b93">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#ac1d6f60502cfe53549dc10ce09145b93">Template</a>
 </li>
 <li>getMeaBoard()
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ae10374fc92b3a04bf0b37e5bd2f38a17">RealSolver</a>
@@ -243,14 +297,49 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a18bb39f68bce281f0f163fd96bb09a8c">Progress</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a18bb39f68bce281f0f163fd96bb09a8c">FromLayer</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a18bb39f68bce281f0f163fd96bb09a8c">boardMeasure</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a18bb39f68bce281f0f163fd96bb09a8c">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a18bb39f68bce281f0f163fd96bb09a8c">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a18bb39f68bce281f0f163fd96bb09a8c">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a18bb39f68bce281f0f163fd96bb09a8c">TrackPointers</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">centroid</a>
 </li>
 <li>getTrackBoard()
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a5c0b1fbbfcef2c96bb16d8d305994f0f">RealSolver</a>
 </li>
+<li>glove
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#a024af1a626c91739b2b9872394bfde01">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a024af1a626c91739b2b9872394bfde01">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a024af1a626c91739b2b9872394bfde01">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html#a024af1a626c91739b2b9872394bfde01">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a024af1a626c91739b2b9872394bfde01">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a024af1a626c91739b2b9872394bfde01">CfgPuzzleScene</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a024af1a626c91739b2b9872394bfde01">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a024af1a626c91739b2b9872394bfde01">TrackPointers</a>
+</li>
 <li>GONE
 : <a class="el" href="classbyMotion_1_1TrackState.html#a036fc987ad0a2cd1ece72fb14bb10f86">TrackState</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a036fc987ad0a2cd1ece72fb14bb10f86">PieceStatus</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a036fc987ad0a2cd1ece72fb14bb10f86">PieceStatus</a>
 </li>
 <li>greedyAssignment()
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac4072d8bdf7b51b32fdc6e6523f9cd6b">Correspondences</a>
diff --git a/docs/functions_h.html b/docs/functions_h.html
index 405e83d4..b60ab140 100644
--- a/docs/functions_h.html
+++ b/docs/functions_h.html
@@ -70,6 +70,15 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 </li>
 <li>hand
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a187cca46ab69a66cdff777315459c07c">SimTimeLess</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a187cca46ab69a66cdff777315459c07c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a187cca46ab69a66cdff777315459c07c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">TrackPointer</a>
+</li>
+<li>hand_track_color
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a755db67058f57a4cfb7e3c493e748d">StateEstimator</a>
 </li>
 <li>has_Eign
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1tModel__SG.html#aac992be0f9727385b2166632ed34d928">tModel_SG</a>
@@ -90,26 +99,62 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a88bf86be51ede2d7c2f01f43fd319476">Progress</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a88bf86be51ede2d7c2f01f43fd319476">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a88bf86be51ede2d7c2f01f43fd319476">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a88bf86be51ede2d7c2f01f43fd319476">PerceiveGloveBC</a>
 </li>
 <li>haveRun
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#aead43b6d6d069fa7308f0fd73166ef79">Perceiver</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#aead43b6d6d069fa7308f0fd73166ef79">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#aead43b6d6d069fa7308f0fd73166ef79">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aead43b6d6d069fa7308f0fd73166ef79">PerceiveGloveBC</a>
 </li>
 <li>haveState
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a8d45eb075e342eaee415087ca2aa40f9">Perceiver</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a8d45eb075e342eaee415087ca2aa40f9">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a8d45eb075e342eaee415087ca2aa40f9">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a8d45eb075e342eaee415087ca2aa40f9">PerceiveGloveBC</a>
 </li>
 <li>HEADER
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a2e4548f2dab79d01b1870c8c432a6bf1">bcolors</a>
 </li>
+<li>height_estimator
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a099066a9f34a332c2c55b9d90c075c84">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a099066a9f34a332c2c55b9d90c075c84">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a099066a9f34a332c2c55b9d90c075c84">SceneInterpreterV1</a>
+</li>
+<li>height_map
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a59d8ccb066c51a33b09c7c9b52197ee3">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a59d8ccb066c51a33b09c7c9b52197ee3">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a59d8ccb066c51a33b09c7c9b52197ee3">SceneInterpreterV1</a>
+</li>
 <li>Homog
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#aa43fb9e3b23bd4f840d6b48b3b2ca1cd">PerceiverState</a>
 </li>
+<li>hTracker
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a86eea3ffa9b2745eb0317f43d605e5eb">BaseSurveillanceDeploy</a>
+</li>
+<li>human_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ac5b4e8285c882db524515204d005f95e">SceneInterpreterV1</a>
+</li>
+<li>human_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a27814ebb1d79884be91400535a1c523a">SceneInterpreterV1</a>
+</li>
+<li>human_track_state
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a60af43f2054317d5d46e1d7e3b638dbe">SceneInterpreterV1</a>
+</li>
+<li>humanAndhumanImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ac9539a5e0167bf4cd9d1f748d4138b6e">BaseSurveillanceDeploy</a>
+</li>
+<li>humanImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a15c737ae7595175e7a2c4c72a6eeb82c">BaseSurveillanceDeploy</a>
+</li>
+<li>humanMask
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a430bc4cf45e20b4c9b1a9e86e9004f62">BaseSurveillanceDeploy</a>
+</li>
+<li>HungarianAssignment()
+: <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3857f24a8b8db87eec172c2662af2d02">Correspondences</a>
+</li>
 <li>hungarianAssignment()
-: <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a0ce58078687848aeeb74c0de5aef04dd">Correspondences</a>
-, <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a123cb12e4694a2aebfcc779166a3c707">Manager</a>
+: <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a123cb12e4694a2aebfcc779166a3c707">Manager</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_i.html b/docs/functions_i.html
index ec499c46..a8f2d5e7 100644
--- a/docs/functions_i.html
+++ b/docs/functions_i.html
@@ -87,7 +87,7 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 : <a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html#a4e7b349a05a558fa6792c71c11a6bf11">inImageRGBD</a>
 </li>
 <li>id
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">Template</a>
 </li>
 <li>id_count
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">Board</a>
@@ -99,9 +99,27 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 <li>im
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a36aff75e89a0f2a99eca767b6ece034d">SimTimeLess</a>
 </li>
+<li>imFG
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a0e5a69462b4b56725dafea0e8ac694c3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a0e5a69462b4b56725dafea0e8ac694c3">Detector</a>
+</li>
+<li>img_BEV
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ae11f1e39550e6c745f47bf44a76d425d">BaseSurveillanceDeploy</a>
+</li>
 <li>img_with_ext
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a90afd7bb65c41eac7935254d40606fa3">CtoW_Calibrator_aruco</a>
 </li>
+<li>imGlove
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">Detectors</a>
+</li>
+<li>imgSource
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a88d9bfa38569e9270e71f758f93e7d48">BaseSurveillanceDeploy</a>
+</li>
+<li>imHand
+: <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">Detector</a>
+</li>
 <li>iMove
 : <a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#af335184c7ff2c682cfbbd357716a8890">TwoAgent</a>
 </li>
@@ -110,6 +128,9 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a1b8fb6a39309824da3daf6b4c847101d">bgGaussian</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a1b8fb6a39309824da3daf6b4c847101d">fgGaussian</a>
 </li>
+<li>imPuzzle
+: <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#aaaa7b7bb05fd17f2488dbaa7663ecb11">Detectors</a>
+</li>
 <li>imRegions
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a84b73d6406f6f94666ae76594d9b8264">imageOccupancy</a>
 , <a class="el" href="classbyRegion_1_1imageRegions.html#a84b73d6406f6f94666ae76594d9b8264">imageRegions</a>
@@ -138,9 +159,29 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4cbc8f16a0b6cd68f685de5561a0c618">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4cbc8f16a0b6cd68f685de5561a0c618">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4cbc8f16a0b6cd68f685de5561a0c618">Progress</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a4cbc8f16a0b6cd68f685de5561a0c618">TrackPointers</a>
 </li>
 <li>INHAND
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a08ddcbbc1b09a33f841630c00860700f">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a08ddcbbc1b09a33f841630c00860700f">PieceStatus</a>
+</li>
+<li>init_mask
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2bcd0f8ab1dc1afdb454a423edc21dfd">RegionGrower_base</a>
 </li>
 <li>init_vidWriter()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ad6c89f008c383aaf6112f6a154f336f4">D435RecBase</a>
@@ -165,19 +206,27 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1ParamPlanner.html#a61569f2965b7a369eb10b6d75d410d11">ParamPlanner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html#a61569f2965b7a369eb10b6d75d410d11">ParamST</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html#a61569f2965b7a369eb10b6d75d410d11">ParamSTL</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#a61569f2965b7a369eb10b6d75d410d11">ParamDynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a61569f2965b7a369eb10b6d75d410d11">Params</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html#a61569f2965b7a369eb10b6d75d410d11">RG_Params</a>
 </li>
 <li>int2text()
 : <a class="el" href="classdrafts_1_1Announcement.html#a8c1c2aae4c9f9ea5bbe9a375e41aaa5a">Announcement</a>
 </li>
 <li>intrinsic
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#adf2548b502450159132dbc836edf0598">tabletopPlaneEstimator</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#adf2548b502450159132dbc836edf0598">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#adf2548b502450159132dbc836edf0598">HeightEstimator</a>
 </li>
 <li>intrinsic_mat
 : <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a73a3e2ba035a18cac2aea08b034f9e34">D435_Runner</a>
 , <a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html#a73a3e2ba035a18cac2aea08b034f9e34">RGBD_Aligned</a>
 </li>
+<li>intrinsics
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a09f2a608b10624074899a33e6b587729">Human_ColorSG_HeightInRange</a>
+</li>
 <li>INVISIBLE
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a718b72ffc0f00b4a77d117806c35a9db">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a718b72ffc0f00b4a77d117806c35a9db">PieceStatus</a>
 </li>
 <li>Ip
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a349de2a2df5b78b837941b4cc2ad22e3">imageOccupancy</a>
diff --git a/docs/functions_k.html b/docs/functions_k.html
index 16069cbe..157b5f65 100644
--- a/docs/functions_k.html
+++ b/docs/functions_k.html
@@ -77,6 +77,9 @@ <h3><a id="index_k"></a>- k -</h3><ul>
 <li>keepQuiet
 : <a class="el" href="classchannels_1_1Assignment.html#a2de1047946a582e56f44e02dd7f42223">Assignment</a>
 </li>
+<li>key_cache
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ab0ff009151f74f53abbcf6d6e8efce13">ActDecoder</a>
+</li>
 <li>kpFeaExtract()
 : <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad47495c4c5052555b124c9648901c0fb">Sift</a>
 </li>
diff --git a/docs/functions_l.html b/docs/functions_l.html
index f1d0249e..708b3e98 100644
--- a/docs/functions_l.html
+++ b/docs/functions_l.html
@@ -75,12 +75,30 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 : <a class="el" href="classcamera_1_1rostopic_1_1Color.html#a13ff37efc743b2f76b3af2c5c09070fb">Color</a>
 , <a class="el" href="classcamera_1_1rostopic_1_1Depth.html#a13ff37efc743b2f76b3af2c5c09070fb">Depth</a>
 </li>
+<li>layer_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a706fbc5a34b642746161e83b5518afbc">Human_ColorSG_HeightInRange</a>
+</li>
+<li>layer_mask_det
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#abd3b4dab30ed613b063ee4fa5b566f2a">Human_ColorSG_HeightInRange</a>
+</li>
+<li>layer_state
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#aed7f15e6db9ac45a9872f61d77ade4c0">Human_ColorSG_HeightInRange</a>
+</li>
 <li>LEFT
 : <a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a9e61226c0b0143de70a8c52bcad2f316">EdgeDirection</a>
 </li>
 <li>lifespan
 : <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a784fcaa5842051207864afbc7f3ecb8d">Template</a>
 </li>
+<li>line
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a4fa05b1f00fcde100685cc887554b93b">DynamicDisplay</a>
+</li>
+<li>list
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#a6bbb80367a84ef6bc36dcf82df1fea55">ParamDynamicDisplay</a>
+</li>
 <li>lMax
 : <a class="el" href="classbyRegion_1_1imageRegions.html#a8f93a5652751302e93a034e711fa6096">imageRegions</a>
 </li>
@@ -94,6 +112,11 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#acb0cabfab6a668db8dc47456dbde561c">inCorner</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#acb0cabfab6a668db8dc47456dbde561c">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#acb0cabfab6a668db8dc47456dbde561c">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a8b2c40fd304f67a2698e1c9ce6b581e8">Detectors</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a89f8212d49a22eb5bf7eb7ff2e33f3b5">specifications</a>
 </li>
 <li>loadFrom()
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a2e9393c490f0a93fcc9e284ffd6abab1">imageOccupancy</a>
@@ -106,6 +129,10 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html#a4127c58f469a0afaf254ec2370e176e4">PlanarModel</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a4127c58f469a0afaf254ec2370e176e4">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a016768f0d8e23ac245a1b74b27021608">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4ae90a1593014fd597a8426210ac7174">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a016768f0d8e23ac245a1b74b27021608">Detectors</a>
 </li>
 <li>loadFromYAML()
 : <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#aad0fb849b35c7ee50f3b21fa6922741e">fgGaussian</a>
diff --git a/docs/functions_m.html b/docs/functions_m.html
index fdaefa12..a7bb23f9 100644
--- a/docs/functions_m.html
+++ b/docs/functions_m.html
@@ -65,9 +65,23 @@
 <div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
 
 <h3><a id="index_m"></a>- m -</h3><ul>
+<li>M_BEV
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a3190a2fa77e1caab20b4d2feba26afeb">frameTransformer</a>
+</li>
 <li>M_CL
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#ab74db170641e600d469daa7c025f8b90">CtoW_Calibrator_aruco</a>
 </li>
+<li>M_int
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ad31de1cf2df4249c634663229eee71de">frameTransformer</a>
+</li>
+<li>M_WtoC
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a7c7c11023a7c19137453a86502d6ec27">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a7c7c11023a7c19137453a86502d6ec27">frameTransformer</a>
+</li>
+<li>M_WtoR
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a9a2fcd10c842b7ea4f70454960db6a3a">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a9a2fcd10c842b7ea4f70454960db6a3a">frameTransformer</a>
+</li>
 <li>manager
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a23416379944e641a8ad6bdbc95ef1859">Planner</a>
 </li>
@@ -84,6 +98,13 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 : <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a291536e8bf5e2f42dec8ed3f82b13487">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a291536e8bf5e2f42dec8ed3f82b13487">boardPerceive</a>
 </li>
+<li>mask
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Detectors</a>
+</li>
 <li>mask2regions()
 : <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a3fe9e05edd4406903ae55bd7788c2dc2">boardMeasure</a>
 </li>
@@ -124,6 +145,12 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 <li>meaBoard
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a258276d7c190a682223160943e4b15da">RealSolver</a>
 </li>
+<li>meaBoardImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a7009b66114c812b886ca3d4c1a4571b9">BaseSurveillanceDeploy</a>
+</li>
+<li>meaBoardMask
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a74305488ae29bb8dae62e6e4fe2cddc3">BaseSurveillanceDeploy</a>
+</li>
 <li>mean
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1TModel.html#a4e2a3f798bd0d5098afbf69c71c8fb9f">TModel</a>
 </li>
@@ -166,6 +193,35 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a3b2484cc8a22705b2445b73498455ae6">boardMeasure</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a19b46941fa572f13c44c35eb65d65fee">boardPerceive</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4c929e144b06b17fd349cc7601a3c747">Planner</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a3f47213028c5bd7e7bf8516db1b13044">Base</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#afcb58d3f4cef0741e4bedfdfd9937edd">Base_state</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a0d5906ea66dea1bea82847c1c21b8a0b">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad17eaba369e442d6a16fa52f3cb41762">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad17eaba369e442d6a16fa52f3cb41762">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad17eaba369e442d6a16fa52f3cb41762">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ad17eaba369e442d6a16fa52f3cb41762">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad17eaba369e442d6a16fa52f3cb41762">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad17eaba369e442d6a16fa52f3cb41762">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4c929e144b06b17fd349cc7601a3c747">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad17eaba369e442d6a16fa52f3cb41762">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">centroidMulti</a>
 , <a class="el" href="classtrackpointer_1_1toplines_1_1fromBottom.html#ad17eaba369e442d6a16fa52f3cb41762">fromBottom</a>
@@ -175,7 +231,10 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#a2be06bc7607224f10932bd37689c8a56">tabletopPlaneEstimator</a>
 </li>
 <li>MEASURED
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus</a>
+</li>
+<li>merge_from_files()
+: <a class="el" href="classSurveillance_1_1utils_1_1configs_1_1CfgNode.html#a40212edf9eb89c9bbf7fef90d14fa05f">CfgNode</a>
 </li>
 <li>message()
 : <a class="el" href="classdrafts_1_1Announcement.html#af418c502269da2fa1127237934c61a47">Announcement</a>
@@ -185,10 +244,22 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 <li>mI
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#af230747f42a391328c08b0b8addfc2dd">inCornerEstimator</a>
 </li>
+<li>module
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a96e5f0eca87c2426370e0897ac7b8ca6">specifications</a>
+</li>
 <li>move()
 : <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a1563b389d668877f951bd0f221d07b18">Actions</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad66bc0f5c583c656635ef414d6a81c63">Hand</a>
 </li>
+<li>move_state
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a0e37b8615380f93a9e98869b6e10a48a">ImageListener</a>
+</li>
+<li>move_state_history
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#acf68bcf3bf7de4e6d7638e64447b92ff">ImageListener</a>
+</li>
+<li>move_th
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a2afa75db8a8d05d8e43d2a6e0bf2ee7b">StateEstimator</a>
+</li>
 <li>MOVING
 : <a class="el" href="classbyMotion_1_1MoveState.html#af884dd2495e184d87be529292a59d9a9">MoveState</a>
 , <a class="el" href="classbyMotion_1_1TrackState.html#af884dd2495e184d87be529292a59d9a9">TrackState</a>
diff --git a/docs/functions_n.html b/docs/functions_n.html
index 09d1ba42..1aed728f 100644
--- a/docs/functions_n.html
+++ b/docs/functions_n.html
@@ -71,20 +71,32 @@ <h3><a id="index_n"></a>- n -</h3><ul>
 </li>
 <li>ndarray
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#a7c4c82e7573d516a6dffe895cc98f613">PerceiverState</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1PuzzleTemplate.html#a7c4c82e7573d516a6dffe895cc98f613">PuzzleTemplate</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1EdgeDes.html#a7c4c82e7573d516a6dffe895cc98f613">EdgeDes</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html#a7c4c82e7573d516a6dffe895cc98f613">PuzzleTemplate</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html#a7c4c82e7573d516a6dffe895cc98f613">Params</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#a7c4c82e7573d516a6dffe895cc98f613">TrackState</a>
 </li>
+<li>neigb
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0871a342883b19ea340667d18b00dd50">RegionGrower_base</a>
+</li>
 <li>newTarget()
 : <a class="el" href="classtriggers_1_1onMatch.html#a25f18dfcd2145ddb25c0c8673601fc57">onMatch</a>
 </li>
 <li>next()
 : <a class="el" href="classpaths_1_1StepLines.html#a9dbee9488c9365114fed347d1a8846f1">StepLines</a>
 </li>
+<li>no_act_label
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ac5a4637b6768a97597eeae099cc88607">ActDecoder</a>
+</li>
 <li>noMarker
 : <a class="el" href="classtrackpointer_1_1utils_1_1fakeTriangle_1_1fakeTriangle.html#a661be1da549ecc6da57609f872a0f236">fakeTriangle</a>
 </li>
+<li>nonROI_init
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6b885acab536fa8fb055d945cc24aafb">SceneInterpreterV1</a>
+</li>
+<li>nonROI_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8ed07fc13da4d5014bc1ea327ba24c22">SceneInterpreterV1</a>
+</li>
 <li>nrmE
 : <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a02412f6ed27eaf28dbb73b642d3264df">bgConical</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a02412f6ed27eaf28dbb73b642d3264df">bgGaussian</a>
diff --git a/docs/functions_o.html b/docs/functions_o.html
index a11b6c6b..d221f016 100644
--- a/docs/functions_o.html
+++ b/docs/functions_o.html
@@ -83,6 +83,9 @@ <h3><a id="index_o"></a>- o -</h3><ul>
 <li>opening()
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a15fc315b40e482ce487168fa8fd6a5f7">mask</a>
 </li>
+<li>opt
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a95ab9b93bf03aa54f98c7a5e28e526ff">ImageListener</a>
+</li>
 <li>other_infos
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a8e19f3a2eb27fc4a30d483f929df13a6">CtoW_Calibrator_aruco</a>
 </li>
@@ -92,6 +95,9 @@ <h3><a id="index_o"></a>- o -</h3><ul>
 <li>out_color
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1vidWriter.html#adbd5e38ad22bd0837bd988a4637aedda">vidWriter</a>
 </li>
+<li>output
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#ad288825273ed7192429ab0474fb2d4a0">specifications</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_p.html b/docs/functions_p.html
index 73f69849..8572f5a5 100644
--- a/docs/functions_p.html
+++ b/docs/functions_p.html
@@ -84,6 +84,38 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a41000f175dc0115080e2a682cc06dbe9">Hand</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a41000f175dc0115080e2a682cc06dbe9">Planner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a41000f175dc0115080e2a682cc06dbe9">SimTimeLess</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a41000f175dc0115080e2a682cc06dbe9">DynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a41000f175dc0115080e2a682cc06dbe9">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a41000f175dc0115080e2a682cc06dbe9">SceneInterpreterV1</a>
+</li>
+<li>parse()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a9858f5e1a6c6dc57d33624584fd9886e">Base_state</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a64c49966bde4f222ddb7e7f7c17ec226">StateEstimator</a>
+</li>
+<li>parse_move()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a450bf2386a831696ea47dc70bb55a69c">StateEstimator</a>
+</li>
+<li>parse_PinH()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a7474e580725ee053a48612793e1253">StateEstimator</a>
+</li>
+<li>parse_progress()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae7646cb1c3ffdc05383c5f3e8329d5bd">StateEstimator</a>
+</li>
+<li>parseDepth()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a0278f74e7c51cadb10507dbd45262f94">frameTransformer</a>
+</li>
+<li>parsePBEV()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a790f3b7691237c2621744e477c6733c5">frameTransformer</a>
+</li>
+<li>parsePCam()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a339718f0a61188ced460a2aecfc186fa">frameTransformer</a>
+</li>
+<li>parsePImg()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac64bca68655166739ce7c34da8d04122">frameTransformer</a>
+</li>
+<li>parsePRob()
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#aee8400cfb29cd9dfbd5caef732bb3fa1">frameTransformer</a>
 </li>
 <li>pAssignments
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3646c19ac3f11a78f94b5c226e114884">Correspondences</a>
@@ -121,15 +153,24 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 </li>
 <li>pca
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#a83bc31c3083b74669a617f4e5ba0a87f">tabletopPlaneEstimator</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#a83bc31c3083b74669a617f4e5ba0a87f">HeightEstimator</a>
 </li>
 <li>perceiver
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a876fe06d447ee106136e459f56e655cf">Monitor</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a876fe06d447ee106136e459f56e655cf">Progress</a>
 </li>
+<li>phase
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4432ad5c680b2372adf2f56998516c6d">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">Calibrator</a>
+</li>
 <li>pick()
 : <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a448ab4596f9e65c0a8ce88620c975517">Actions</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a648e0e4637e1b33ccde26890df437050">Hand</a>
 </li>
+<li>pick_model
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a6aadd6db4d43309181e179136b2148ab">ImageListener</a>
+</li>
 <li>pieceConstructor
 : <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a49807f064f750d752afe06f69780ef03">FromLayer</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a49807f064f750d752afe06f69780ef03">boardMeasure</a>
@@ -142,6 +183,7 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 </li>
 <li>pieces
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">Board</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a21ddfcf7ee9df16a820d99deb4fda263">TrackPointers</a>
 </li>
 <li>piecesInPlace()
 : <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">Arrangement</a>
@@ -158,12 +200,15 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 : <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a383ddb0dfd01e6e9d3ad33370089a5b9">Actions</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#adb66f9faea15eef67bf92e207ec73de2">Hand</a>
 </li>
+<li>place_model
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a970258eacbb43d2b0668cffd4d4e1e3c">ImageListener</a>
+</li>
 <li>placeInImage()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a2a08605d5ae67c5bae9d4f39f321943d">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2a08605d5ae67c5bae9d4f39f321943d">Template</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad477a0d4deb469c7726e2a7a594222a1">Hand</a>
 </li>
 <li>placeInImageAt()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a30ece36acb64b9d8cc4c477a2b347211">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a30ece36acb64b9d8cc4c477a2b347211">Template</a>
 </li>
 <li>plan
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#ae1e167b26485ee9a975bf4fb78bc469c">RealSolverROS</a>
@@ -190,12 +235,28 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>pLevel
 : <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a6ec77c4ed7e60ea945d0cda07cb14c19">Progress</a>
 </li>
+<li>plot_states()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae0498ceb65c213e746f4b5dc95ef562b">StateEstimator</a>
+</li>
 <li>pMark
 : <a class="el" href="classtrackpointer_1_1utils_1_1fakeTriangle_1_1fakeTriangle.html#aaba1748703eabd68397b29ab52f38c5e">fakeTriangle</a>
 </li>
 <li>points
 : <a class="el" href="classpaths_1_1StepLines.html#ab9a89211ecb71d18bbd259853fda1c54">StepLines</a>
 </li>
+<li>post_process()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a02a795646b735d09b4e4d3f151b132e9">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a02a795646b735d09b4e4d3f151b132e9">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a02a795646b735d09b4e4d3f151b132e9">robot_inRange_Height</a>
+</li>
+<li>post_process_custom
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a7b16d8cd0a9427e58038098d91fd0289">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a7b16d8cd0a9427e58038098d91fd0289">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a7b16d8cd0a9427e58038098d91fd0289">robot_inRange_Height</a>
+</li>
+<li>postprocess()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a26f5316a06d27c357a696627987cfb15">BaseSurveillanceDeploy</a>
+</li>
 <li>postprocess_save_path()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#a919af91bbca9ba8047457930de6f67b9">D435RecBase</a>
 </li>
@@ -210,6 +271,27 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4dd85ce87569585c592b0dd0638c0dfd">Progress</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#a4dd85ce87569585c592b0dd0638c0dfd">FromSketch</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">PuzzlePerceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4dd85ce87569585c592b0dd0638c0dfd">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a4dd85ce87569585c592b0dd0638c0dfd">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4dd85ce87569585c592b0dd0638c0dfd">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a4dd85ce87569585c592b0dd0638c0dfd">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4dd85ce87569585c592b0dd0638c0dfd">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">centroid</a>
 </li>
 <li>prepare()
@@ -261,9 +343,36 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a208d75fc3c64ff1c83c113a750c8103c">RealSolver</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9c6e2fa490003e64846ab5cd5cb7bb68">Planner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#a5b3eea323714b6f50ef7e00fe1938575">PlannerHand</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">Base</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a156ea13bc449d3f40b4c6772ccb3308c">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a15b5b23376c42a855847f9b74cdc07b3">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a15b5b23376c42a855847f9b74cdc07b3">PerceiveGloveBC</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a15b5b23376c42a855847f9b74cdc07b3">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a15b5b23376c42a855847f9b74cdc07b3">TrackPointers</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ae7ea0e57263609b9fc86c2f0bde7294b">SceneInterpreterV1</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a15b5b23376c42a855847f9b74cdc07b3">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">centroidMulti</a>
 </li>
+<li>process_depth()
+: <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a7cc6ec34f5198ff4402624fbcf210ea7">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a7cc6ec34f5198ff4402624fbcf210ea7">SceneInterpreterV1</a>
+</li>
 <li>process_frame()
 : <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#aea48cbeb4556e6b9403aa20b0b1bddeb">Replay</a>
 </li>
@@ -273,9 +382,15 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>process_loop()
 : <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#a914585dea8950415b5bfa7030fb3307c">Replay</a>
 </li>
+<li>process_mask()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0b84a68abf1941507b350506ad34729b">RegionGrower_base</a>
+</li>
 <li>process_ROS()
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a8b3ac4080f6efaea8609e5cb84dac762">RealSolverROS</a>
 </li>
+<li>process_seeds()
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa35b1253d695aaf7a9e3d8e727227826">RegionGrower_base</a>
+</li>
 <li>processAdjacency()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">Adjacent</a>
 </li>
@@ -297,15 +412,37 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>pshape
 : <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a2b8855a5b237b0d43ea29c91bfb5df8c">Gridded</a>
 </li>
+<li>publish_activity()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4e41e2d032b988fb4900169e014a99a1">BaseSurveillanceDeploy</a>
+</li>
+<li>publish_data()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a5dddbd1fc374295d2dde19668c501a91">BaseSurveillanceDeploy</a>
+</li>
 <li>publish_ROS()
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a3b15409bbe03f81e3d0c40a8d28aa759">RealSolverROS</a>
 </li>
 <li>puzzle
 : <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">Basic</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a74bb04c924794986ef19140c539e1de6">specifications</a>
+</li>
+<li>puzzle_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a1001359200f8455263d6d62807576c0e">SceneInterpreterV1</a>
+</li>
+<li>puzzle_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8d67e91e2daba56e4d497fc13f62cf33">SceneInterpreterV1</a>
 </li>
 <li>puzzle_solver_info_pub
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#acb8a1c4e27f79dc906620415d0dcaad0">RealSolverROS</a>
 </li>
+<li>puzzle_track_state
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6c9d445c0972d9afb165627b609d51a6">SceneInterpreterV1</a>
+</li>
+<li>puzzleImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a0f3642c0719fa8b844d558773a4d1c77">BaseSurveillanceDeploy</a>
+</li>
+<li>puzzleSolver
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a0fdbcfb901e4e785cc37ae9f7920c0c9">ImageListener</a>
+</li>
 <li>pygameFig
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a8349f5635ce188958282b983c7c74385">SimTime</a>
 </li>
diff --git a/docs/functions_r.html b/docs/functions_r.html
index 5788d444..96ab6cb2 100644
--- a/docs/functions_r.html
+++ b/docs/functions_r.html
@@ -73,6 +73,10 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 </li>
 <li>R
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1TModel.html#acb95449a94688af33f6e9bb090cf2936">TModel</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#acb95449a94688af33f6e9bb090cf2936">HeightEstimator</a>
+</li>
+<li>rate
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a1d580470818c2fa51a0bf3a86bc595bf">BaseSurveillanceDeploy</a>
 </li>
 <li>ready
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#ab0db378e6ced1decdb42263d4cb2789a">Color</a>
@@ -98,6 +102,12 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#a39273804abcf0b3945b0b3eba84228de">inCornerEstimator</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a39273804abcf0b3945b0b3eba84228de">fgGaussian</a>
 </li>
+<li>reg_avg
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a594fc86eee42e5c9365bd6dbbcc6c1fc">RegionGrower_base</a>
+</li>
+<li>reg_var
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0431a4368c16813f7b030fcadb32b139">RegionGrower_base</a>
+</li>
 <li>regionProposal()
 : <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a1410b000f748b7695272141a8388ce53">centroidMulti</a>
 </li>
@@ -146,6 +156,18 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 <li>revisions
 : <a class="el" href="classperceiver_1_1reporting_1_1Editor.html#a7ac950c2e42be005835e49fb409b5dd0">Editor</a>
 </li>
+<li>rgb_frame_stamp
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#ad4c66a0860136a9aba4e3f18383156e8">ImageListener</a>
+</li>
+<li>rgb_frame_stamp_prev
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a3b73df6ff5dbbe67b12f8127c087ede7">ImageListener</a>
+</li>
+<li>rgb_img
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a489c7cbcef872f066f2596e5a16cb2a6">SceneInterpreterV1</a>
+</li>
+<li>RGB_np
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#abda7fd1b45d2e657c53d5a7dc5245f95">ImageListener</a>
+</li>
 <li>rgb_path
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1frameWriter.html#aebdbed1dbba8fa2294c059f621fcc39b">frameWriter</a>
 </li>
@@ -156,18 +178,29 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 : <a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#afd53bb4c86324b910e2ca50455a93df3">EdgeDirection</a>
 </li>
 <li>rLoc
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">Template</a>
 </li>
 <li>rmPiece()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">Board</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">Basic</a>
 </li>
+<li>robot_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aa38075a7f674a57b2f43cc5ef61d19d7">SceneInterpreterV1</a>
+</li>
+<li>robot_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a06218e1db167ce867d185a75e545a49a">SceneInterpreterV1</a>
+</li>
+<li>robot_track_state
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af984f6b5852d364cb81862bc403248b1">SceneInterpreterV1</a>
+</li>
+<li>robotImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4be7bd572dd7f033e8f3f5b0856684da">BaseSurveillanceDeploy</a>
+</li>
 <li>rotate()
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#aac54cdcc52a959a2dce7e11d8d3ca551">Hand</a>
 </li>
 <li>rotatePiece()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">Template</a>
-, <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aed5219e329d1c20a9ff74a315433dba0">Regular</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aed5219e329d1c20a9ff74a315433dba0">Regular</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">Template</a>
 </li>
 <li>rotation_match
@@ -180,6 +213,10 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 </li>
 <li>run()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ad22709b2e67308af35f55680d5a026e0">D435RecBase</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ad22709b2e67308af35f55680d5a026e0">BaseSurveillanceDeploy</a>
+</li>
+<li>run_system()
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a514a6ac8bc08f9b06893b957f8acd431">ImageListener</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_s.html b/docs/functions_s.html
index 0815bc20..521c7329 100644
--- a/docs/functions_s.html
+++ b/docs/functions_s.html
@@ -69,11 +69,15 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">Base</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#ad1246a56211fcb6db5d3c3c093a9063a">bgmodelGMM_cv</a>
 </li>
+<li>save_data()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a0848a525e23f9e10289ab7a6eeca2078">BaseSurveillanceDeploy</a>
+</li>
 <li>save_depth
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1vidWriter.html#a4779c8adca989d98c344bbbbe0b3a9c9">vidWriter</a>
 </li>
 <li>save_dir
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#a13add80719a6702ceb6fef9d0d670f6e">D435RecBase</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a13add80719a6702ceb6fef9d0d670f6e">BaseSurveillanceDeploy</a>
 </li>
 <li>save_frame()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#aa6e6419f69d32eb4235ce2c4c84e52cd">D435RecBase</a>
@@ -90,6 +94,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>saveConfig()
 : <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">fgGaussian</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">Calibrator</a>
 </li>
 <li>saveMod()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#aa2f0c1bde1a480a20b1a26aac02d6536">targetSG</a>
@@ -109,10 +116,25 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#a2d052ae6ae0dc395ed468285493dbc4c">onWorkspace</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a2d052ae6ae0dc395ed468285493dbc4c">fgGaussian</a>
 , <a class="el" href="classdetector_1_1fromState_1_1fromState.html#a2d052ae6ae0dc395ed468285493dbc4c">fromState</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a2d052ae6ae0dc395ed468285493dbc4c">Detectors</a>
 </li>
 <li>scalarDist()
 : <a class="el" href="classtriggers_1_1CfgDistTrigger.html#acde29bd476149cf9fffa1caff7e20910">CfgDistTrigger</a>
 </li>
+<li>scene_interpreter
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a6928de54b8e3273f4e582acd4d41d98a">BaseSurveillanceDeploy</a>
+</li>
 <li>score()
 : <a class="el" href="classhistogram_1_1Histogram.html#a13e0dd98dfa8069f3510356f495e0d16">Histogram</a>
 , <a class="el" href="classmoments_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">Moments</a>
@@ -143,6 +165,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a135084fd94e679ce7869e01b693b1f5b">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a135084fd94e679ce7869e01b693b1f5b">Manager</a>
 </li>
+<li>seed_list
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a04ad0c39d7ca422dd9fd5a74e06af4e2">RegionGrower_base</a>
+</li>
 <li>selectMaskRegionFromPoint()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a81f8f9970aa9420cceb95b174eeca2c1">inCorner</a>
 </li>
@@ -172,6 +197,15 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>set_configs()
 : <a class="el" href="classcamera_1_1base_1_1Base.html#ae4dc63aa0ffa4f17571277c6faddac7c">Base</a>
 </li>
+<li>set_detected_masks()
+: <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#ac28d6b90aea155426cabe2615fc0ea1f">Puzzle_Residual</a>
+</li>
+<li>set_from_dict()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#af394f69c5e8e850836778c3b430b4368">Params</a>
+</li>
+<li>set_from_yaml()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#aa443eb89abb7ac71f5cb06b4898e8e76">Params</a>
+</li>
 <li>set_intrinsic()
 : <a class="el" href="classcamera_1_1base_1_1Base.html#a4440fce18e69ac32c34d3288daa9e8bf">Base</a>
 </li>
@@ -191,6 +225,10 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>setIfMissing()
 : <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ac9f7bc8117e3762e4ffeadd7525de3d6">centroid</a>
 </li>
+<li>setMask()
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a354fd39c945e2ad77c9d3b8145c17752">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a354fd39c945e2ad77c9d3b8145c17752">Detector</a>
+</li>
 <li>setMatch()
 : <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a1e8180dcffe198694d6ce1d4afed753a">Simple</a>
 , <a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#a2eccb0eb4e64e5cc74a19c3ca9f22586">TwoAgent</a>
@@ -199,7 +237,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">Basic</a>
 </li>
 <li>setPlacement()
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a0e793d6c2d6aca31021a97dc7a564f12">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#af7cfa5c8d148b6ce6d80b8959a51fe90">Template</a>
 </li>
 <li>setPose()
 : <a class="el" href="classtrackpointer_1_1utils_1_1fakeTriangle_1_1fakeTriangle.html#a7b3e4275dc0365b5a088ad7a66baf659">fakeTriangle</a>
@@ -251,6 +289,22 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#abc1de55a1ded540ae925d455d78d4573">bgGaussian</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#abc1de55a1ded540ae925d455d78d4573">fgGaussian</a>
 </li>
+<li>signal_cache_count
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#aa1c8a34591407230f3ffaa4619e4da18">Base_state</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#aa1c8a34591407230f3ffaa4619e4da18">StateEstimator</a>
+</li>
+<li>signal_cache_limit
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a28314c9c0ccf3c398d8fd10022082a90">Base_state</a>
+</li>
+<li>signal_names
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a21f8389463617321cd3dfa303300f977">Base_state</a>
+</li>
+<li>signal_number
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a0184e72a47375fc9ba1f5dcf26168b06">Base_state</a>
+</li>
+<li>signals_cache
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5aebb28daf3ecb5d12dc80dccf607a33">Base_state</a>
+</li>
 <li>simple_harris_pts
 : <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a9fef45f7bb20501084b965cd356bcd2d">Regular</a>
 </li>
@@ -263,7 +317,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>size()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">Template</a>
 </li>
 <li>skipList
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ae3b4a5cae7c025003260aa58ef37f260">Correspondences</a>
@@ -281,6 +335,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>source
 : <a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html#a2090a647eea4ba8be07c28e6d52e97de">copyAttributes</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a2090a647eea4ba8be07c28e6d52e97de">specifications</a>
 </li>
 <li>specify_model()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a0d12c1a45a6ba85e80a7f15bbbd70b98">inCorner</a>
@@ -313,8 +368,29 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>state
 : <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#adc6e5733fc3c22f0a7b2914188c49c90">onWorkspace</a>
 </li>
+<li>state_cache_count
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5b37c3f18dcec9a4fa733cd6950cf203">Base_state</a>
+</li>
+<li>state_cache_limit
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2c2e6c19ea5d524edc2f5ceafec04505">Base_state</a>
+</li>
+<li>state_names
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2ed7b3e356be3f0649646fc5d99a1b99">Base_state</a>
+</li>
+<li>state_number
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a20c4cdd5da2a6996269a0a0773c4fd8e">Base_state</a>
+</li>
+<li>state_parser
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a0a68d7b12389b419d1bad33c8404ec3d">ImageListener</a>
+</li>
+<li>state_text_color
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a3c11a98e3678a788489657b0c949b224">StateEstimator</a>
+</li>
+<li>states_cache
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#abb19d29292d31f9f00cbe238ed5bd750">Base_state</a>
+</li>
 <li>status
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">Template</a>
 </li>
 <li>status_history
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a7ceb104897cb78a92288d9224eae4d2b">Planner</a>
@@ -325,6 +401,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>status_pulse_pub
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#aa7c971545da50849bc487a381f07c1bf">RealSolverROS</a>
 </li>
+<li>status_window
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a53595815a531b7ee83fed71abf4e992a">ImageListener</a>
+</li>
 <li>stop()
 : <a class="el" href="classcamera_1_1base_1_1Base.html#a26ca7c1c7fcdd35378e7be97727047a6">Base</a>
 , <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#a26ca7c1c7fcdd35378e7be97727047a6">Color</a>
@@ -341,6 +420,8 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classcamera_1_1d435new_1_1Config__D435.html#a4b99ff73a8a869319570237b5c57ab03">Config_D435</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html#a4b99ff73a8a869319570237b5c57ab03">ParamColorCluster</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a4b99ff73a8a869319570237b5c57ab03">ParamRunner</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#a4b99ff73a8a869319570237b5c57ab03">ParamDynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a4b99ff73a8a869319570237b5c57ab03">Params</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">CfgCentroid</a>
 , <a class="el" href="classtrackpointer_1_1toplines_1_1Params.html#a4b99ff73a8a869319570237b5c57ab03">Params</a>
 </li>
@@ -351,6 +432,12 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>stringState()
 : <a class="el" href="classbyRegion_1_1imageRegions.html#af688f4abedc8ed62d6757b37a386484c">imageRegions</a>
 </li>
+<li>surv
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a641753925b907a8d61d483c035abe01d">ImageListener</a>
+</li>
+<li>surveillance
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a05ed1cac493a93f777295328e28a649d">specifications</a>
+</li>
 <li>swapPuzzle()
 : <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ad65dabaa6e7b1e099ff133733c7c4b7c">Gridded</a>
 </li>
diff --git a/docs/functions_t.html b/docs/functions_t.html
index 6def3f4f..2bff9141 100644
--- a/docs/functions_t.html
+++ b/docs/functions_t.html
@@ -72,6 +72,9 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 <li>t
 : <a class="el" href="classpaths_1_1StepLines.html#aaccc9105df5383111407fd5b41255e23">StepLines</a>
 </li>
+<li>T
+: <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#adf1f3edb9115acb0a1e04209b7a9937b">HeightEstimator</a>
+</li>
 <li>takeAction()
 : <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ad2e7b52c90b31229acc40514a755fffe">Basic</a>
 </li>
@@ -90,6 +93,7 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html#a792949e8a4201c5094710876ad50e2a8">PlanarModel</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1SphericalModel.html#a792949e8a4201c5094710876ad50e2a8">SphericalModel</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1TModel.html#a792949e8a4201c5094710876ad50e2a8">TModel</a>
+, <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a792949e8a4201c5094710876ad50e2a8">Sift</a>
 </li>
 <li>tau_color
 : <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">Edge</a>
@@ -109,6 +113,18 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 , <a class="el" href="classtriggers_1_1whenFar.html#aa27e36819ffac92dffffb32f6af49745">whenFar</a>
 , <a class="el" href="classtriggers_1_1whenSimilar.html#aa27e36819ffac92dffffb32f6af49745">whenSimilar</a>
 </li>
+<li>test_dep_pub
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ad63f79250d3a5a8dc28e265fca102f67">BaseSurveillanceDeploy</a>
+</li>
+<li>test_depth
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#add68d3b78cb01edef67695e26b7139cf">BaseSurveillanceDeploy</a>
+</li>
+<li>test_rgb
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#abacc20ce1dc4e9aafd7a1c0331310152">BaseSurveillanceDeploy</a>
+</li>
+<li>test_rgb_pub
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ab6aea1e81d5a30a6f7a633f2a2eef5d2">BaseSurveillanceDeploy</a>
+</li>
 <li>testAdjacent()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">Board</a>
 </li>
@@ -121,6 +137,12 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 <li>th
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1tModel__SG.html#a4c7354b9bcf8e1c1ff1c0d28b0d4276a">tModel_SG</a>
 </li>
+<li>th_val
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#a5e40e7fc3fad61ae046a769c60dde68f">RegionGrower_ValDiff</a>
+</li>
+<li>th_var
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#a69f670995fcaa569fb8dd0a88051109c">RegionGrower_ValDiff</a>
+</li>
 <li>theCalibrated
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a9993320adb175b89e5500acf486a19c5">RealSolver</a>
 </li>
@@ -143,8 +165,7 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2e797c1a975adcc4279ba004f08a4728">RealSolver</a>
 </li>
 <li>theta
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">Template</a>
-, <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aebf487f5d315cb61f0bd86455edff1fd">Regular</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aebf487f5d315cb61f0bd86455edff1fd">Regular</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">Template</a>
 </li>
 <li>theThreshMatch
@@ -157,18 +178,16 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 <li>timer
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a9fabcf6aa0647a2414f7cb1a2ab2634a">SimTime</a>
 </li>
-<li>timestamp
-: <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#a71e24db6312e99e75bdc49e89d65948e">Replay</a>
-</li>
 <li>tMax
 : <a class="el" href="classpaths_1_1StepLines.html#a0e0a1f0c7b3db29b42ed009e5acdfef2">StepLines</a>
 </li>
 <li>tMeas
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#ad56139229f38b159ff12a57572163955">Perceiver</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad56139229f38b159ff12a57572163955">PerceiveGloveBC</a>
 </li>
 <li>toImage()
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">Board</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a7980ac02452465cec91c19514d041202">Template</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a7980ac02452465cec91c19514d041202">Template</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">Basic</a>
 </li>
 <li>toiterable()
@@ -194,14 +213,11 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a3fdf85bd1f6d0e70f77ebcc4b46e00d7">Perceiver</a>
 </li>
 <li>TRACKED
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a3f2c7a0f5847128ef923f34bc6358618">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3f2c7a0f5847128ef923f34bc6358618">PieceStatus</a>
 </li>
 <li>tracker
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#abec0b9ee4648af3b77db73e8070f1736">Perceiver</a>
 </li>
-<li>tracking_life
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a996db759ccd4e4d50a36e20a88abdd79">Template</a>
-</li>
 <li>trackProps
 : <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ae7bf5e3cc14999a762fa96fdf1f63776">centroidMulti</a>
 </li>
@@ -215,8 +231,8 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 : <a class="el" href="classperceiver_1_1reporting_1_1Reporter.html#ae194cb817eae4085f8023885100c68dd">Reporter</a>
 </li>
 <li>tuple
-: <a class="el" href="classpuzzle_1_1old__template_1_1PuzzleTemplate.html#a155c51da3493a0647b4e1a3b695b1c56">PuzzleTemplate</a>
-, <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a155c51da3493a0647b4e1a3b695b1c56">ParamRunner</a>
+: <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a155c51da3493a0647b4e1a3b695b1c56">ParamRunner</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#a155c51da3493a0647b4e1a3b695b1c56">ParamDynamicDisplay</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_u.html b/docs/functions_u.html
index 3c438dd7..d89a8d76 100644
--- a/docs/functions_u.html
+++ b/docs/functions_u.html
@@ -72,18 +72,33 @@ <h3><a id="index_u"></a>- u -</h3><ul>
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#adfd2e04a8cd1c80e5363474b3e69bde0">bcolors</a>
 </li>
 <li>UNKNOWN
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">PieceStatus</a>
 </li>
 <li>update()
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a852118613d88430c90d5ce9be2505773">CtoW_Calibrator_aruco</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0d9d50aee8666e4242f46920d7b9a5ea">Template</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a1eec535b9845bd66901c9157c5b58978">Base_state</a>
+</li>
+<li>update_depth()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a797988a5460248ee2d7b9eb6b27746c1">Human_ColorSG_HeightInRange</a>
+</li>
+<li>update_height_map()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a78ed19bd73ce1dbfffaff496c209961e">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a78ed19bd73ce1dbfffaff496c209961e">robot_inRange_Height</a>
 </li>
 <li>update_intrinsic()
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#ae7db228a277f6df17e13f084b3ae1696">CtoW_Calibrator_aruco</a>
 </li>
+<li>update_params()
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aba339157c963a999b35e75d846ab4404">Base</a>
+</li>
 <li>update_paths()
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1frameWriter.html#a96a1a6f7ecde8544f423a2270c7a0705">frameWriter</a>
 </li>
+<li>update_postprocess()
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a8aa8e0ac3684dcd56836e5e41a99c3bb">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a8aa8e0ac3684dcd56836e5e41a99c3bb">Puzzle_Residual</a>
+</li>
 <li>update_th()
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a9088b7c8327a103bd8b37845a24ebe8b">targetSG</a>
 </li>
diff --git a/docs/functions_v.html b/docs/functions_v.html
index 6ef9804a..cc9302ba 100644
--- a/docs/functions_v.html
+++ b/docs/functions_v.html
@@ -77,9 +77,40 @@ <h3><a id="index_v"></a>- v -</h3><ul>
 <li>vidname
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1vidWriter.html#acb5ae323a914b134919511060a0d6d4f">vidWriter</a>
 </li>
+<li>vis()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a9943b4e5a95a4484307697f222afb386">BaseSurveillanceDeploy</a>
+</li>
+<li>vis_input()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4011d7c5165981a73f2bf338cd832df3">BaseSurveillanceDeploy</a>
+</li>
+<li>vis_layer()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#acf49d40e5b63d13797daf9bb5dd4d098">SceneInterpreterV1</a>
+</li>
+<li>vis_near_hand_puzzles()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a1203240d3543fdf27b5c9c13b96c28db">BaseSurveillanceDeploy</a>
+</li>
 <li>vis_plane()
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#ade18737b5551561a997648b0f33dd756">tabletopPlaneEstimator</a>
 </li>
+<li>vis_puzzles()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a4e60404be734751899afb73dcbbb781d">SceneInterpreterV1</a>
+</li>
+<li>vis_results()
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4073583dad3e80815b4ba3d0554d7389">BaseSurveillanceDeploy</a>
+</li>
+<li>vis_scene()
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a1fe5c6c8163ab2803ff44d85e17238c1">SceneInterpreterV1</a>
+</li>
+<li>visibleMask
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ac9d3a341b9ed09dc0bb6fa843a344659">BaseSurveillanceDeploy</a>
+</li>
+<li>visualize()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ab89d735316a9c5c52428507f40f6394c">StateEstimator</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a6a4d4e9a935ecaf49fc2456969541733">BaseSurveillanceDeploy</a>
+</li>
+<li>visualize_state_evolving()
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a751babe7c132b73be1c74543a2ca0589">Base_state</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_vars.html b/docs/functions_vars.html
index 501aac33..8e088a5d 100644
--- a/docs/functions_vars.html
+++ b/docs/functions_vars.html
@@ -65,6 +65,19 @@
 &#160;
 
 <h3><a id="index_a"></a>- a -</h3><ul>
+<li>act_codebook
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#a05142afe49d12fb1fe7a1f95e3f3b8fe">ActDecoder</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a05142afe49d12fb1fe7a1f95e3f3b8fe">BaseSurveillanceDeploy</a>
+</li>
+<li>act_decoder
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a81c6ca740ae879354293994ea291c115">ImageListener</a>
+</li>
+<li>act_mark_cache
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#af558571ee29f0d02c125630113929fc5">BaseSurveillanceDeploy</a>
+</li>
+<li>act_mark_pub
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ad4caaa29e5e3a99351f952a02ed6c1e2">BaseSurveillanceDeploy</a>
+</li>
 <li>ACTION_LABELS
 : <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a763b0d0d6cbb5a5a81692f474b6cff68">Actions</a>
 </li>
@@ -73,6 +86,14 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 </li>
 <li>activity
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a54f1d8208fc901f0d590d129e0fe4af7">Monitor</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#a54f1d8208fc901f0d590d129e0fe4af7">ActDecoder</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a54f1d8208fc901f0d590d129e0fe4af7">specifications</a>
+</li>
+<li>activity_label
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#aa158f5f58ff6cd12868ca6cdcd4dfff9">ImageListener</a>
+</li>
+<li>activity_window
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#acc550762e52d8a74e50ce5c4113b8274">ImageListener</a>
 </li>
 <li>adapt_rate
 : <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html#a1dd4d030560e23ee682a9aec4950e91f">bgmodelGMM_cv</a>
@@ -88,6 +109,9 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#a6c52c4bac77f6744fdc338766e9e8a6f">Replay</a>
 , <a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html#a6c52c4bac77f6744fdc338766e9e8a6f">RGBD_Aligned</a>
 </li>
+<li>analysis
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#ab8b576d14990b9f80475e5620e52cc25">specifications</a>
+</li>
 <li>announcement
 : <a class="el" href="classdrafts_1_1Announcement.html#ad5839d5081c38fe1357042f3482b4041">Announcement</a>
 , <a class="el" href="classdrafts_1_1Commentary.html#ad5839d5081c38fe1357042f3482b4041">Commentary</a>
@@ -102,6 +126,9 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classpuzzle_1_1manager_1_1ManagerParms.html#abd7045ad8553e16c50a967b4d48b7f6b">ManagerParms</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html#abd7045ad8553e16c50a967b4d48b7f6b">ParamPuzzle</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#abd7045ad8553e16c50a967b4d48b7f6b">ParamRunner</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">DetectorState</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html#abd7045ad8553e16c50a967b4d48b7f6b">DetStateHand</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState.html#abd7045ad8553e16c50a967b4d48b7f6b">DetectorsState</a>
 </li>
 <li>app
 : <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#afe63fea7be31b0200b496d08bc6b517d">Hand</a>
@@ -117,6 +144,7 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 </li>
 <li>array
 : <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a41ab4b8b4e6b05e8489555b1bbc7f845">ParamRunner</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a41ab4b8b4e6b05e8489555b1bbc7f845">Params</a>
 </li>
 <li>aruco_dict
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a2f28482ae4ba02c4483e262ea80d936f">CtoW_Calibrator_aruco</a>
@@ -131,6 +159,12 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 : <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a4da321dd2fc04e01a3a0167962b86d68">D435_Runner</a>
 , <a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html#a4da321dd2fc04e01a3a0167962b86d68">RGBD_Aligned</a>
 </li>
+<li>ax
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a8fa675eb2fcec5b95d9d21c670da7f30">DynamicDisplay</a>
+</li>
+<li>axbg_cache
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a49bf0c61f6025deaeb91a35237bb419d">DynamicDisplay</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_vars_b.html b/docs/functions_vars_b.html
index 3747d607..0161799c 100644
--- a/docs/functions_vars_b.html
+++ b/docs/functions_vars_b.html
@@ -74,6 +74,18 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>bClusterImage
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ade55d4229f42284f7e3397f9b7819d4b">RealSolver</a>
 </li>
+<li>BEV_mat
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#af590827d3047be81c6604bd5e67a6c8c">BaseSurveillanceDeploy</a>
+</li>
+<li>BEV_size
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aea8f07689b038243b753197812f3c4af">SceneInterpreterV1</a>
+</li>
+<li>bg_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a517f31b4792db90b7655e9408c8e90a7">SceneInterpreterV1</a>
+</li>
+<li>bg_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af40933d7f3db3084a78804cd538bce0e">SceneInterpreterV1</a>
+</li>
 <li>bgI
 : <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a08e6763d61467b61fdb010e601382bd4">bgConical</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a08e6763d61467b61fdb010e601382bd4">bgGaussian</a>
@@ -117,6 +129,7 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1ProgressState.html#af6a258d8f3ee5206d682d799316314b1">ProgressState</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html#af6a258d8f3ee5206d682d799316314b1">ParamPuzzle</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html#af6a258d8f3ee5206d682d799316314b1">ParamSTL</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#af6a258d8f3ee5206d682d799316314b1">Params</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#af6a258d8f3ee5206d682d799316314b1">TrackState</a>
 </li>
 <li>BOTTOM
diff --git a/docs/functions_vars_c.html b/docs/functions_vars_c.html
index 128d9865..41b0325f 100644
--- a/docs/functions_vars_c.html
+++ b/docs/functions_vars_c.html
@@ -84,9 +84,15 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>cache_id
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1vidWriter.html#aff4f37d08942bdce6d83a4ed2d1707da">vidWriter</a>
 </li>
+<li>cache_img
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a74e5d8981d7da5824730ab274bb01653">RegionGrower_base</a>
+</li>
 <li>cache_M_CL
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#acd6de0a8a9c74e9cff0678c6fe97add1">CtoW_Calibrator_aruco</a>
 </li>
+<li>cache_map
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#ac51ac6ba6e1b68ab25171eb429398994">RegionGrower_base</a>
+</li>
 <li>cache_occr
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#aced5bff92479ce6cb7b9501fa0d4c6ff">CtoW_Calibrator_aruco</a>
 </li>
@@ -97,6 +103,12 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 : <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#ada44531abffa3c4bd2074b126c2ecc5b">Actions</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ada44531abffa3c4bd2074b126c2ecc5b">Hand</a>
 </li>
+<li>callable
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">Params</a>
+</li>
+<li>Callable
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html#a8719cb645096a73ecea462e78ae1f882">Params</a>
+</li>
 <li>cameraMatrix
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a5574ec8a203f76cdfb2ce8713b5a20de">CtoW_Calibrator_aruco</a>
 </li>
@@ -126,9 +138,6 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>cLoc
 : <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">Template</a>
 </li>
-<li>cluster_id
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a91ce2f023859da339d1cd67d400b77f5">Template</a>
-</li>
 <li>cluster_piece_dict
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a68f7a97055e94dcf71948daa0c79619d">SimTime</a>
 </li>
@@ -165,6 +174,9 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classdrafts_1_1Commentary.html#ad2256458892609d0533df5d72a7257ad">Commentary</a>
 , <a class="el" href="classperceiver_1_1reporting_1_1Editor.html#ad2256458892609d0533df5d72a7257ad">Editor</a>
 , <a class="el" href="classperceiver_1_1reporting_1_1Reporter.html#ad2256458892609d0533df5d72a7257ad">Reporter</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">Detector</a>
 , <a class="el" href="classtriggers_1_1Trigger.html#ad2256458892609d0533df5d72a7257ad">Trigger</a>
 </li>
 <li>configs
diff --git a/docs/functions_vars_d.html b/docs/functions_vars_d.html
index 53e39cf9..20322d12 100644
--- a/docs/functions_vars_d.html
+++ b/docs/functions_vars_d.html
@@ -83,24 +83,43 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>d435_starter
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ab10a2b2196dd477c36c656baa79b3887">D435RecBase</a>
 </li>
+<li>D_np
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a88d2c36303961b6e5312d45800a616f1">ImageListener</a>
+</li>
 <li>data
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1MData.html#a511ae0b1c13f95e5f08f1a0dd3da3d93">MData</a>
 </li>
 <li>data_path
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1frameWriter.html#af237e9b285e08691782796ced84daf32">frameWriter</a>
 </li>
+<li>default_factory
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#ac44e8607df17617696a0a70c1c55871d">ParamDynamicDisplay</a>
+</li>
 <li>dep_scale_topic
 : <a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html#a51e9fcd6034df41969706874e5d639c7">vidWriter_ROS</a>
 </li>
 <li>dep_topic
 : <a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html#aa23aa62a0464e1f57545e198261906d6">vidWriter_ROS</a>
 </li>
+<li>depth
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a40fbe8949b277afd0fac64228851b12a">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a40fbe8949b277afd0fac64228851b12a">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a40fbe8949b277afd0fac64228851b12a">SceneInterpreterV1</a>
+</li>
 <li>depth_scale
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#abbf2a98f2bfcb7d9679e49ae8667f615">D435RecBase</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#abbf2a98f2bfcb7d9679e49ae8667f615">D435_Runner</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner2_1_1Replay.html#abbf2a98f2bfcb7d9679e49ae8667f615">Replay</a>
 , <a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html#abbf2a98f2bfcb7d9679e49ae8667f615">RGBD_Aligned</a>
 , <a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html#abbf2a98f2bfcb7d9679e49ae8667f615">vidWriter_ROS</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#abbf2a98f2bfcb7d9679e49ae8667f615">BaseSurveillanceDeploy</a>
 </li>
 <li>depth_scale_topic_name
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecRosbag.html#a81a2901cd37d0be1f72059dc0780bc01">D435RecRosbag</a>
@@ -123,6 +142,9 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>detected
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a5f3db3e66e4abf42eac6af5fc83519dc">CtoW_Calibrator_aruco</a>
 </li>
+<li>detected_masks
+: <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#aea79e641e00c820e01063fff1e5e2254">Puzzle_Residual</a>
+</li>
 <li>detector
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a2e2cc69bf023676b0749903f295a507e">Perceiver</a>
 </li>
@@ -146,7 +168,7 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 : <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html#a0c75081f1d6b168fd54caef3a8db3fff">bgmodelGMM</a>
 </li>
 <li>dtype
-: <a class="el" href="classpuzzle_1_1old__template_1_1PuzzleTemplate.html#acfe99d230e216901bd782cc580e4e815">PuzzleTemplate</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html#acfe99d230e216901bd782cc580e4e815">PuzzleTemplate</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_vars_f.html b/docs/functions_vars_f.html
index 806cc14c..b0517638 100644
--- a/docs/functions_vars_f.html
+++ b/docs/functions_vars_f.html
@@ -65,6 +65,9 @@
 &#160;
 
 <h3><a id="index_f"></a>- f -</h3><ul>
+<li>f_idx
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a88dfdf23780898e0a861e80bd6f1ef3f">Base_state</a>
+</li>
 <li>FAIL
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#adaf8c0a026a62515ee2af85bc6fd5da9">bcolors</a>
 </li>
@@ -120,6 +123,9 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 <li>filtered_harris_pts
 : <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a3b1b996ad21b500b2c823bb3ac48487a">Regular</a>
 </li>
+<li>final_mask
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2ae9de5bc2db74a603a01ed055c193bf">RegionGrower_base</a>
+</li>
 <li>flag_print_MCL
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#afb3dfd38d7421cf819a37ff9f1c2b77d">CtoW_Calibrator_aruco</a>
 </li>
@@ -138,6 +144,8 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 , <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamRunner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamHand</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamST</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">Params</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">RG_Params</a>
 </li>
 <li>FPS
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#af2be5e41610afb58aeec369e8bb9a524">SimTime</a>
diff --git a/docs/functions_vars_g.html b/docs/functions_vars_g.html
index ac875f70..1cab679e 100644
--- a/docs/functions_vars_g.html
+++ b/docs/functions_vars_g.html
@@ -81,9 +81,25 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>gCW
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#a66b997996f0a4b6a52ef106410719f9f">Color</a>
 </li>
+<li>general
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#ad797829e3284fd15f2780269ce9bb6dc">specifications</a>
+</li>
+<li>glove
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#a024af1a626c91739b2b9872394bfde01">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a024af1a626c91739b2b9872394bfde01">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a024af1a626c91739b2b9872394bfde01">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html#a024af1a626c91739b2b9872394bfde01">CfgGloveDetector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a024af1a626c91739b2b9872394bfde01">GlovePointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a024af1a626c91739b2b9872394bfde01">CfgPuzzleScene</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a024af1a626c91739b2b9872394bfde01">Detectors</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a024af1a626c91739b2b9872394bfde01">TrackPointers</a>
+</li>
 <li>GONE
 : <a class="el" href="classbyMotion_1_1TrackState.html#a036fc987ad0a2cd1ece72fb14bb10f86">TrackState</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a036fc987ad0a2cd1ece72fb14bb10f86">PieceStatus</a>
+, <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a036fc987ad0a2cd1ece72fb14bb10f86">PieceStatus</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_vars_h.html b/docs/functions_vars_h.html
index dc06ca41..b11dc7dc 100644
--- a/docs/functions_vars_h.html
+++ b/docs/functions_vars_h.html
@@ -70,6 +70,15 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 </li>
 <li>hand
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a187cca46ab69a66cdff777315459c07c">SimTimeLess</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a187cca46ab69a66cdff777315459c07c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">TrackPointer</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a187cca46ab69a66cdff777315459c07c">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">TrackPointer</a>
+</li>
+<li>hand_track_color
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a755db67058f57a4cfb7e3c493e748d">StateEstimator</a>
 </li>
 <li>has_Eign
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1tModel__SG.html#aac992be0f9727385b2166632ed34d928">tModel_SG</a>
@@ -90,23 +99,57 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a88bf86be51ede2d7c2f01f43fd319476">Progress</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a88bf86be51ede2d7c2f01f43fd319476">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a88bf86be51ede2d7c2f01f43fd319476">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a88bf86be51ede2d7c2f01f43fd319476">PerceiveGloveBC</a>
 </li>
 <li>haveRun
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#aead43b6d6d069fa7308f0fd73166ef79">Perceiver</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#aead43b6d6d069fa7308f0fd73166ef79">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#aead43b6d6d069fa7308f0fd73166ef79">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aead43b6d6d069fa7308f0fd73166ef79">PerceiveGloveBC</a>
 </li>
 <li>haveState
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a8d45eb075e342eaee415087ca2aa40f9">Perceiver</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a8d45eb075e342eaee415087ca2aa40f9">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a8d45eb075e342eaee415087ca2aa40f9">boardPerceive</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a8d45eb075e342eaee415087ca2aa40f9">PerceiveGloveBC</a>
 </li>
 <li>HEADER
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a2e4548f2dab79d01b1870c8c432a6bf1">bcolors</a>
 </li>
+<li>height_estimator
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a099066a9f34a332c2c55b9d90c075c84">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a099066a9f34a332c2c55b9d90c075c84">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a099066a9f34a332c2c55b9d90c075c84">SceneInterpreterV1</a>
+</li>
+<li>height_map
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a59d8ccb066c51a33b09c7c9b52197ee3">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a59d8ccb066c51a33b09c7c9b52197ee3">robot_inRange_Height</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a59d8ccb066c51a33b09c7c9b52197ee3">SceneInterpreterV1</a>
+</li>
 <li>Homog
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#aa43fb9e3b23bd4f840d6b48b3b2ca1cd">PerceiverState</a>
 </li>
+<li>hTracker
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a86eea3ffa9b2745eb0317f43d605e5eb">BaseSurveillanceDeploy</a>
+</li>
+<li>human_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#ac5b4e8285c882db524515204d005f95e">SceneInterpreterV1</a>
+</li>
+<li>human_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a27814ebb1d79884be91400535a1c523a">SceneInterpreterV1</a>
+</li>
+<li>human_track_state
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a60af43f2054317d5d46e1d7e3b638dbe">SceneInterpreterV1</a>
+</li>
+<li>humanAndhumanImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ac9539a5e0167bf4cd9d1f748d4138b6e">BaseSurveillanceDeploy</a>
+</li>
+<li>humanImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a15c737ae7595175e7a2c4c72a6eeb82c">BaseSurveillanceDeploy</a>
+</li>
+<li>humanMask
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a430bc4cf45e20b4c9b1a9e86e9004f62">BaseSurveillanceDeploy</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_vars_i.html b/docs/functions_vars_i.html
index 66ac55e2..fb9dce49 100644
--- a/docs/functions_vars_i.html
+++ b/docs/functions_vars_i.html
@@ -87,7 +87,7 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 : <a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html#a4e7b349a05a558fa6792c71c11a6bf11">inImageRGBD</a>
 </li>
 <li>id
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">Template</a>
 </li>
 <li>id_count
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">Board</a>
@@ -99,9 +99,27 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 <li>im
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a36aff75e89a0f2a99eca767b6ece034d">SimTimeLess</a>
 </li>
+<li>imFG
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a0e5a69462b4b56725dafea0e8ac694c3">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a0e5a69462b4b56725dafea0e8ac694c3">Detector</a>
+</li>
+<li>img_BEV
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ae11f1e39550e6c745f47bf44a76d425d">BaseSurveillanceDeploy</a>
+</li>
 <li>img_with_ext
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a90afd7bb65c41eac7935254d40606fa3">CtoW_Calibrator_aruco</a>
 </li>
+<li>imGlove
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">Detectors</a>
+</li>
+<li>imgSource
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a88d9bfa38569e9270e71f758f93e7d48">BaseSurveillanceDeploy</a>
+</li>
+<li>imHand
+: <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">Detector</a>
+</li>
 <li>iMove
 : <a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#af335184c7ff2c682cfbbd357716a8890">TwoAgent</a>
 </li>
@@ -110,6 +128,9 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a1b8fb6a39309824da3daf6b4c847101d">bgGaussian</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#a1b8fb6a39309824da3daf6b4c847101d">fgGaussian</a>
 </li>
+<li>imPuzzle
+: <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#aaaa7b7bb05fd17f2488dbaa7663ecb11">Detectors</a>
+</li>
 <li>imRegions
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a84b73d6406f6f94666ae76594d9b8264">imageOccupancy</a>
 , <a class="el" href="classbyRegion_1_1imageRegions.html#a84b73d6406f6f94666ae76594d9b8264">imageRegions</a>
@@ -126,7 +147,10 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 : <a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a4420eb171e366558baac5096d17a8e52">EdgeType</a>
 </li>
 <li>INHAND
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a08ddcbbc1b09a33f841630c00860700f">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a08ddcbbc1b09a33f841630c00860700f">PieceStatus</a>
+</li>
+<li>init_mask
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2bcd0f8ab1dc1afdb454a423edc21dfd">RegionGrower_base</a>
 </li>
 <li>int
 : <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Configs.html#a61569f2965b7a369eb10b6d75d410d11">D435_Configs</a>
@@ -140,16 +164,24 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1ParamPlanner.html#a61569f2965b7a369eb10b6d75d410d11">ParamPlanner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html#a61569f2965b7a369eb10b6d75d410d11">ParamST</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html#a61569f2965b7a369eb10b6d75d410d11">ParamSTL</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#a61569f2965b7a369eb10b6d75d410d11">ParamDynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a61569f2965b7a369eb10b6d75d410d11">Params</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html#a61569f2965b7a369eb10b6d75d410d11">RG_Params</a>
 </li>
 <li>intrinsic
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#adf2548b502450159132dbc836edf0598">tabletopPlaneEstimator</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#adf2548b502450159132dbc836edf0598">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#adf2548b502450159132dbc836edf0598">HeightEstimator</a>
 </li>
 <li>intrinsic_mat
 : <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a73a3e2ba035a18cac2aea08b034f9e34">D435_Runner</a>
 , <a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html#a73a3e2ba035a18cac2aea08b034f9e34">RGBD_Aligned</a>
 </li>
+<li>intrinsics
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a09f2a608b10624074899a33e6b587729">Human_ColorSG_HeightInRange</a>
+</li>
 <li>INVISIBLE
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a718b72ffc0f00b4a77d117806c35a9db">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a718b72ffc0f00b4a77d117806c35a9db">PieceStatus</a>
 </li>
 <li>Ip
 : <a class="el" href="classbyRegion_1_1imageOccupancy.html#a349de2a2df5b78b837941b4cc2ad22e3">imageOccupancy</a>
diff --git a/docs/functions_vars_k.html b/docs/functions_vars_k.html
index 405d0435..d6b2a7b6 100644
--- a/docs/functions_vars_k.html
+++ b/docs/functions_vars_k.html
@@ -77,6 +77,9 @@ <h3><a id="index_k"></a>- k -</h3><ul>
 <li>keepQuiet
 : <a class="el" href="classchannels_1_1Assignment.html#a2de1047946a582e56f44e02dd7f42223">Assignment</a>
 </li>
+<li>key_cache
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ab0ff009151f74f53abbcf6d6e8efce13">ActDecoder</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_vars_l.html b/docs/functions_vars_l.html
index bc238615..2ec2b118 100644
--- a/docs/functions_vars_l.html
+++ b/docs/functions_vars_l.html
@@ -75,12 +75,30 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 : <a class="el" href="classcamera_1_1rostopic_1_1Color.html#a13ff37efc743b2f76b3af2c5c09070fb">Color</a>
 , <a class="el" href="classcamera_1_1rostopic_1_1Depth.html#a13ff37efc743b2f76b3af2c5c09070fb">Depth</a>
 </li>
+<li>layer_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a706fbc5a34b642746161e83b5518afbc">Human_ColorSG_HeightInRange</a>
+</li>
+<li>layer_mask_det
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#abd3b4dab30ed613b063ee4fa5b566f2a">Human_ColorSG_HeightInRange</a>
+</li>
+<li>layer_state
+: <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#aed7f15e6db9ac45a9872f61d77ade4c0">Human_ColorSG_HeightInRange</a>
+</li>
 <li>LEFT
 : <a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a9e61226c0b0143de70a8c52bcad2f316">EdgeDirection</a>
 </li>
 <li>lifespan
 : <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a784fcaa5842051207864afbc7f3ecb8d">Template</a>
 </li>
+<li>line
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a4fa05b1f00fcde100685cc887554b93b">DynamicDisplay</a>
+</li>
+<li>list
+: <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#a6bbb80367a84ef6bc36dcf82df1fea55">ParamDynamicDisplay</a>
+</li>
 <li>lMax
 : <a class="el" href="classbyRegion_1_1imageRegions.html#a8f93a5652751302e93a034e711fa6096">imageRegions</a>
 </li>
diff --git a/docs/functions_vars_m.html b/docs/functions_vars_m.html
index 9b7b4c97..b73086fb 100644
--- a/docs/functions_vars_m.html
+++ b/docs/functions_vars_m.html
@@ -65,9 +65,23 @@
 &#160;
 
 <h3><a id="index_m"></a>- m -</h3><ul>
+<li>M_BEV
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a3190a2fa77e1caab20b4d2feba26afeb">frameTransformer</a>
+</li>
 <li>M_CL
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#ab74db170641e600d469daa7c025f8b90">CtoW_Calibrator_aruco</a>
 </li>
+<li>M_int
+: <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ad31de1cf2df4249c634663229eee71de">frameTransformer</a>
+</li>
+<li>M_WtoC
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a7c7c11023a7c19137453a86502d6ec27">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a7c7c11023a7c19137453a86502d6ec27">frameTransformer</a>
+</li>
+<li>M_WtoR
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a9a2fcd10c842b7ea4f70454960db6a3a">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a9a2fcd10c842b7ea4f70454960db6a3a">frameTransformer</a>
+</li>
 <li>manager
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a23416379944e641a8ad6bdbc95ef1859">Planner</a>
 </li>
@@ -81,6 +95,13 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 : <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a291536e8bf5e2f42dec8ed3f82b13487">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a291536e8bf5e2f42dec8ed3f82b13487">boardPerceive</a>
 </li>
+<li>mask
+: <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">GloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Detector</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">Detectors</a>
+</li>
 <li>match
 : <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#accb9e3891f1b5e10699e8048d6762923">Simple</a>
 </li>
@@ -105,6 +126,12 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 <li>meaBoard
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a258276d7c190a682223160943e4b15da">RealSolver</a>
 </li>
+<li>meaBoardImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a7009b66114c812b886ca3d4c1a4571b9">BaseSurveillanceDeploy</a>
+</li>
+<li>meaBoardMask
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a74305488ae29bb8dae62e6e4fe2cddc3">BaseSurveillanceDeploy</a>
+</li>
 <li>mean
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1TModel.html#a4e2a3f798bd0d5098afbf69c71c8fb9f">TModel</a>
 </li>
@@ -118,7 +145,7 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 : <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#aef7a248a453233d0ae57c89fc1036e89">fgGaussian</a>
 </li>
 <li>MEASURED
-: <a class="el" href="classpuzzle_1_1old__template_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus</a>
 </li>
 <li>message
 : <a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html#ab8140947611504abcb64a4c277effcf5">TextRectException</a>
@@ -126,6 +153,18 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 <li>mI
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#af230747f42a391328c08b0b8addfc2dd">inCornerEstimator</a>
 </li>
+<li>module
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a96e5f0eca87c2426370e0897ac7b8ca6">specifications</a>
+</li>
+<li>move_state
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a0e37b8615380f93a9e98869b6e10a48a">ImageListener</a>
+</li>
+<li>move_state_history
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#acf68bcf3bf7de4e6d7638e64447b92ff">ImageListener</a>
+</li>
+<li>move_th
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a2afa75db8a8d05d8e43d2a6e0bf2ee7b">StateEstimator</a>
+</li>
 <li>MOVING
 : <a class="el" href="classbyMotion_1_1MoveState.html#af884dd2495e184d87be529292a59d9a9">MoveState</a>
 , <a class="el" href="classbyMotion_1_1TrackState.html#af884dd2495e184d87be529292a59d9a9">TrackState</a>
diff --git a/docs/functions_vars_n.html b/docs/functions_vars_n.html
index f14270a7..049ef9fe 100644
--- a/docs/functions_vars_n.html
+++ b/docs/functions_vars_n.html
@@ -71,14 +71,26 @@ <h3><a id="index_n"></a>- n -</h3><ul>
 </li>
 <li>ndarray
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#a7c4c82e7573d516a6dffe895cc98f613">PerceiverState</a>
-, <a class="el" href="classpuzzle_1_1old__template_1_1PuzzleTemplate.html#a7c4c82e7573d516a6dffe895cc98f613">PuzzleTemplate</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1EdgeDes.html#a7c4c82e7573d516a6dffe895cc98f613">EdgeDes</a>
 , <a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html#a7c4c82e7573d516a6dffe895cc98f613">PuzzleTemplate</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html#a7c4c82e7573d516a6dffe895cc98f613">Params</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#a7c4c82e7573d516a6dffe895cc98f613">TrackState</a>
 </li>
+<li>neigb
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0871a342883b19ea340667d18b00dd50">RegionGrower_base</a>
+</li>
+<li>no_act_label
+: <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ac5a4637b6768a97597eeae099cc88607">ActDecoder</a>
+</li>
 <li>noMarker
 : <a class="el" href="classtrackpointer_1_1utils_1_1fakeTriangle_1_1fakeTriangle.html#a661be1da549ecc6da57609f872a0f236">fakeTriangle</a>
 </li>
+<li>nonROI_init
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6b885acab536fa8fb055d945cc24aafb">SceneInterpreterV1</a>
+</li>
+<li>nonROI_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8ed07fc13da4d5014bc1ea327ba24c22">SceneInterpreterV1</a>
+</li>
 <li>nrmE
 : <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a02412f6ed27eaf28dbb73b642d3264df">bgConical</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#a02412f6ed27eaf28dbb73b642d3264df">bgGaussian</a>
diff --git a/docs/functions_vars_o.html b/docs/functions_vars_o.html
index ae332374..8bfb6b7a 100644
--- a/docs/functions_vars_o.html
+++ b/docs/functions_vars_o.html
@@ -74,6 +74,9 @@ <h3><a id="index_o"></a>- o -</h3><ul>
 <li>OKGREEN
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a8144a5ca0d0e87f9379f1e659cd2d91b">bcolors</a>
 </li>
+<li>opt
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a95ab9b93bf03aa54f98c7a5e28e526ff">ImageListener</a>
+</li>
 <li>other_infos
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a8e19f3a2eb27fc4a30d483f929df13a6">CtoW_Calibrator_aruco</a>
 </li>
@@ -83,6 +86,9 @@ <h3><a id="index_o"></a>- o -</h3><ul>
 <li>out_color
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1vidWriter.html#adbd5e38ad22bd0837bd988a4637aedda">vidWriter</a>
 </li>
+<li>output
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#ad288825273ed7192429ab0474fb2d4a0">specifications</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_vars_p.html b/docs/functions_vars_p.html
index a557399f..d56573f1 100644
--- a/docs/functions_vars_p.html
+++ b/docs/functions_vars_p.html
@@ -84,6 +84,10 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a41000f175dc0115080e2a682cc06dbe9">Hand</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a41000f175dc0115080e2a682cc06dbe9">Planner</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a41000f175dc0115080e2a682cc06dbe9">SimTimeLess</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html#a41000f175dc0115080e2a682cc06dbe9">DynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a41000f175dc0115080e2a682cc06dbe9">BaseSurveillanceDeploy</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">Base</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a41000f175dc0115080e2a682cc06dbe9">SceneInterpreterV1</a>
 </li>
 <li>pAssignments
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3646c19ac3f11a78f94b5c226e114884">Correspondences</a>
@@ -111,17 +115,27 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 </li>
 <li>pca
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#a83bc31c3083b74669a617f4e5ba0a87f">tabletopPlaneEstimator</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#a83bc31c3083b74669a617f4e5ba0a87f">HeightEstimator</a>
 </li>
 <li>perceiver
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a876fe06d447ee106136e459f56e655cf">Monitor</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a876fe06d447ee106136e459f56e655cf">Progress</a>
 </li>
+<li>phase
+: <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">Calibrator</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4432ad5c680b2372adf2f56998516c6d">CalibGloveByColor</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">Calibrator</a>
+</li>
+<li>pick_model
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a6aadd6db4d43309181e179136b2148ab">ImageListener</a>
+</li>
 <li>pieceConstructor
 : <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a49807f064f750d752afe06f69780ef03">FromLayer</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a49807f064f750d752afe06f69780ef03">boardMeasure</a>
 </li>
 <li>pieces
 : <a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">Board</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a21ddfcf7ee9df16a820d99deb4fda263">TrackPointers</a>
 </li>
 <li>pipeline
 : <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a2320134bb04bbea3b4d6ff0569d3a746">D435_Runner</a>
@@ -131,6 +145,9 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>pix
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1MData.html#a6d7251890654961d60f101f1f2c0ed46">MData</a>
 </li>
+<li>place_model
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a970258eacbb43d2b0668cffd4d4e1e3c">ImageListener</a>
+</li>
 <li>plan
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#ae1e167b26485ee9a975bf4fb78bc469c">RealSolverROS</a>
 , <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae1e167b26485ee9a975bf4fb78bc469c">Simple</a>
@@ -153,6 +170,11 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>points
 : <a class="el" href="classpaths_1_1StepLines.html#ab9a89211ecb71d18bbd259853fda1c54">StepLines</a>
 </li>
+<li>post_process_custom
+: <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a7b16d8cd0a9427e58038098d91fd0289">Human_ColorSG_HeightInRange</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a7b16d8cd0a9427e58038098d91fd0289">Puzzle_Residual</a>
+, <a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a7b16d8cd0a9427e58038098d91fd0289">robot_inRange_Height</a>
+</li>
 <li>prevSig
 : <a class="el" href="classtriggers_1_1onChange.html#afa8283f33236abf50b587e9df345013e">onChange</a>
 , <a class="el" href="classtriggers_1_1whenDiffers.html#afa8283f33236abf50b587e9df345013e">whenDiffers</a>
@@ -171,10 +193,26 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 </li>
 <li>puzzle
 : <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">Basic</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a74bb04c924794986ef19140c539e1de6">specifications</a>
+</li>
+<li>puzzle_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a1001359200f8455263d6d62807576c0e">SceneInterpreterV1</a>
+</li>
+<li>puzzle_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8d67e91e2daba56e4d497fc13f62cf33">SceneInterpreterV1</a>
 </li>
 <li>puzzle_solver_info_pub
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#acb8a1c4e27f79dc906620415d0dcaad0">RealSolverROS</a>
 </li>
+<li>puzzle_track_state
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6c9d445c0972d9afb165627b609d51a6">SceneInterpreterV1</a>
+</li>
+<li>puzzleImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a0f3642c0719fa8b844d558773a4d1c77">BaseSurveillanceDeploy</a>
+</li>
+<li>puzzleSolver
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a0fdbcfb901e4e785cc37ae9f7920c0c9">ImageListener</a>
+</li>
 <li>pygameFig
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a8349f5635ce188958282b983c7c74385">SimTime</a>
 </li>
diff --git a/docs/functions_vars_r.html b/docs/functions_vars_r.html
index 95bad43b..01b477fe 100644
--- a/docs/functions_vars_r.html
+++ b/docs/functions_vars_r.html
@@ -73,6 +73,10 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 </li>
 <li>R
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1TModel.html#acb95449a94688af33f6e9bb090cf2936">TModel</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#acb95449a94688af33f6e9bb090cf2936">HeightEstimator</a>
+</li>
+<li>rate
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a1d580470818c2fa51a0bf3a86bc595bf">BaseSurveillanceDeploy</a>
 </li>
 <li>ready
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#ab0db378e6ced1decdb42263d4cb2789a">Color</a>
@@ -83,6 +87,12 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 <li>rectangle_pts
 : <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a17919e0aaa24a25e6ed96f555f9d2cf2">Regular</a>
 </li>
+<li>reg_avg
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a594fc86eee42e5c9365bd6dbbcc6c1fc">RegionGrower_base</a>
+</li>
+<li>reg_var
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0431a4368c16813f7b030fcadb32b139">RegionGrower_base</a>
+</li>
 <li>reporter
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a602ae602f49efdcf7bb2fe925f53d2dc">Monitor</a>
 </li>
@@ -92,6 +102,18 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 <li>revisions
 : <a class="el" href="classperceiver_1_1reporting_1_1Editor.html#a7ac950c2e42be005835e49fb409b5dd0">Editor</a>
 </li>
+<li>rgb_frame_stamp
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#ad4c66a0860136a9aba4e3f18383156e8">ImageListener</a>
+</li>
+<li>rgb_frame_stamp_prev
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a3b73df6ff5dbbe67b12f8127c087ede7">ImageListener</a>
+</li>
+<li>rgb_img
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a489c7cbcef872f066f2596e5a16cb2a6">SceneInterpreterV1</a>
+</li>
+<li>RGB_np
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#abda7fd1b45d2e657c53d5a7dc5245f95">ImageListener</a>
+</li>
 <li>rgb_path
 : <a class="el" href="classcamera_1_1utils_1_1writer_1_1frameWriter.html#aebdbed1dbba8fa2294c059f621fcc39b">frameWriter</a>
 </li>
@@ -102,7 +124,19 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 : <a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#afd53bb4c86324b910e2ca50455a93df3">EdgeDirection</a>
 </li>
 <li>rLoc
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">Template</a>
+</li>
+<li>robot_mask
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aa38075a7f674a57b2f43cc5ef61d19d7">SceneInterpreterV1</a>
+</li>
+<li>robot_seg
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a06218e1db167ce867d185a75e545a49a">SceneInterpreterV1</a>
+</li>
+<li>robot_track_state
+: <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af984f6b5852d364cb81862bc403248b1">SceneInterpreterV1</a>
+</li>
+<li>robotImg
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a4be7bd572dd7f033e8f3f5b0856684da">BaseSurveillanceDeploy</a>
 </li>
 <li>rotation_match
 : <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2cf2886cacfc85149e1521b3387ca796">Simple</a>
diff --git a/docs/functions_vars_s.html b/docs/functions_vars_s.html
index ccf54614..a42d704d 100644
--- a/docs/functions_vars_s.html
+++ b/docs/functions_vars_s.html
@@ -70,10 +70,14 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>save_dir
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#a13add80719a6702ceb6fef9d0d670f6e">D435RecBase</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a13add80719a6702ceb6fef9d0d670f6e">BaseSurveillanceDeploy</a>
 </li>
 <li>save_path
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#a788a614a216ded88fb318d5fb2cd1a1d">D435RecBase</a>
 </li>
+<li>scene_interpreter
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a6928de54b8e3273f4e582acd4d41d98a">BaseSurveillanceDeploy</a>
+</li>
 <li>scoreTable
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a69ecbb454afd7b49a65b76d8e4b4c63f">Correspondences</a>
 </li>
@@ -85,6 +89,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a135084fd94e679ce7869e01b693b1f5b">Correspondences</a>
 , <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a135084fd94e679ce7869e01b693b1f5b">Manager</a>
 </li>
+<li>seed_list
+: <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a04ad0c39d7ca422dd9fd5a74e06af4e2">RegionGrower_base</a>
+</li>
 <li>settings
 : <a class="el" href="classpaths_1_1StepLines.html#a6cddb5e40c21eadd2ded85bc51f79822">StepLines</a>
 </li>
@@ -110,6 +117,22 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html#abc1de55a1ded540ae925d455d78d4573">bgGaussian</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html#abc1de55a1ded540ae925d455d78d4573">fgGaussian</a>
 </li>
+<li>signal_cache_count
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#aa1c8a34591407230f3ffaa4619e4da18">Base_state</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#aa1c8a34591407230f3ffaa4619e4da18">StateEstimator</a>
+</li>
+<li>signal_cache_limit
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a28314c9c0ccf3c398d8fd10022082a90">Base_state</a>
+</li>
+<li>signal_names
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a21f8389463617321cd3dfa303300f977">Base_state</a>
+</li>
+<li>signal_number
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a0184e72a47375fc9ba1f5dcf26168b06">Base_state</a>
+</li>
+<li>signals_cache
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5aebb28daf3ecb5d12dc80dccf607a33">Base_state</a>
+</li>
 <li>simple_harris_pts
 : <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a9fef45f7bb20501084b965cd356bcd2d">Regular</a>
 </li>
@@ -129,6 +152,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>source
 : <a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html#a2090a647eea4ba8be07c28e6d52e97de">copyAttributes</a>
+, <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a2090a647eea4ba8be07c28e6d52e97de">specifications</a>
 </li>
 <li>sqeI
 : <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html#a2f0490d6c4c0c65f0ff81104aa5a7b28">bgConical</a>
@@ -144,8 +168,29 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>state
 : <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html#adc6e5733fc3c22f0a7b2914188c49c90">onWorkspace</a>
 </li>
+<li>state_cache_count
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5b37c3f18dcec9a4fa733cd6950cf203">Base_state</a>
+</li>
+<li>state_cache_limit
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2c2e6c19ea5d524edc2f5ceafec04505">Base_state</a>
+</li>
+<li>state_names
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2ed7b3e356be3f0649646fc5d99a1b99">Base_state</a>
+</li>
+<li>state_number
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a20c4cdd5da2a6996269a0a0773c4fd8e">Base_state</a>
+</li>
+<li>state_parser
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a0a68d7b12389b419d1bad33c8404ec3d">ImageListener</a>
+</li>
+<li>state_text_color
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a3c11a98e3678a788489657b0c949b224">StateEstimator</a>
+</li>
+<li>states_cache
+: <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#abb19d29292d31f9f00cbe238ed5bd750">Base_state</a>
+</li>
 <li>status
-: <a class="el" href="classpuzzle_1_1old__template_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">Template</a>
+: <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">Template</a>
 </li>
 <li>status_history
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a7ceb104897cb78a92288d9224eae4d2b">Planner</a>
@@ -156,6 +201,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>status_pulse_pub
 : <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#aa7c971545da50849bc487a381f07c1bf">RealSolverROS</a>
 </li>
+<li>status_window
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a53595815a531b7ee83fed71abf4e992a">ImageListener</a>
+</li>
 <li>STOPPED
 : <a class="el" href="classbyMotion_1_1MoveState.html#a7679966a315f0e6103a0e598ff27d5a7">MoveState</a>
 , <a class="el" href="classbyMotion_1_1TrackState.html#a7679966a315f0e6103a0e598ff27d5a7">TrackState</a>
@@ -164,9 +212,17 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classcamera_1_1d435new_1_1Config__D435.html#a4b99ff73a8a869319570237b5c57ab03">Config_D435</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html#a4b99ff73a8a869319570237b5c57ab03">ParamColorCluster</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a4b99ff73a8a869319570237b5c57ab03">ParamRunner</a>
+, <a class="el" href="classSurveillance_1_1activity_1_1utils_1_1ParamDynamicDisplay.html#a4b99ff73a8a869319570237b5c57ab03">ParamDynamicDisplay</a>
+, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a4b99ff73a8a869319570237b5c57ab03">Params</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">CfgCentroid</a>
 , <a class="el" href="classtrackpointer_1_1toplines_1_1Params.html#a4b99ff73a8a869319570237b5c57ab03">Params</a>
 </li>
+<li>surv
+: <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html#a641753925b907a8d61d483c035abe01d">ImageListener</a>
+</li>
+<li>surveillance
+: <a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html#a05ed1cac493a93f777295328e28a649d">specifications</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_vars_t.html b/docs/functions_vars_t.html
index 071485f6..87bb2f94 100644
--- a/docs/functions_vars_t.html
+++ b/docs/functions_vars_t.html
@@ -72,6 +72,9 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 <li>t
 : <a class="el" href="classpaths_1_1StepLines.html#aaccc9105df5383111407fd5b41255e23">StepLines</a>
 </li>
+<li>T
+: <a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html#adf1f3edb9115acb0a1e04209b7a9937b">HeightEstimator</a>
+</li>
 <li>targSig
 : <a class="el" href="classtriggers_1_1onMatch.html#ab7f9db96ce214a2883b73bc541e16fb5">onMatch</a>
 , <a class="el" href="classtriggers_1_1whenClose.html#ab7f9db96ce214a2883b73bc541e16fb5">whenClose</a>
@@ -82,6 +85,7 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html#a792949e8a4201c5094710876ad50e2a8">PlanarModel</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1SphericalModel.html#a792949e8a4201c5094710876ad50e2a8">SphericalModel</a>
 , <a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1TModel.html#a792949e8a4201c5094710876ad50e2a8">TModel</a>
+, <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a792949e8a4201c5094710876ad50e2a8">Sift</a>
 </li>
 <li>tau_color
 : <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">Edge</a>
@@ -89,9 +93,27 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 <li>tau_shape
 : <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a504dadb081a2d62655e614498f16dfcc">Edge</a>
 </li>
+<li>test_dep_pub
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ad63f79250d3a5a8dc28e265fca102f67">BaseSurveillanceDeploy</a>
+</li>
+<li>test_depth
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#add68d3b78cb01edef67695e26b7139cf">BaseSurveillanceDeploy</a>
+</li>
+<li>test_rgb
+: <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#abacc20ce1dc4e9aafd7a1c0331310152">BaseSurveillanceDeploy</a>
+</li>
+<li>test_rgb_pub
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-<tr id="row_34_1_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_34_1_" class="arrow" onclick="toggleFolder('34_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html" target="_self">MatchSimilar</a></td><td class="desc">Similarity matching </td></tr>
-<tr id="row_34_1_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html" target="_self">SIFTCV</a></td><td class="desc">Uses sift features to establish similarity </td></tr>
-<tr id="row_34_1_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html" target="_self">Sift</a></td><td class="desc"></td></tr>
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-<tr id="row_35_3_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classbyRegion_1_1imageOccupancy.html" target="_self">imageOccupancy</a></td><td class="desc">Activity states depend on having true image values lying in specific regions of an image. Signal is a full image </td></tr>
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+<tr id="row_6_4_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_6_4_" class="arrow" onclick="toggleFolder('6_4_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1d435new_1_1RGBD.html" target="_self">RGBD</a></td><td class="desc">D435 <a class="el" href="classcamera_1_1d435new_1_1Color.html">Color</a> + <a class="el" href="classcamera_1_1d435new_1_1Depth.html">Depth</a> (RGB+D) image capture class </td></tr>
+<tr id="row_6_4_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1d435new_1_1RGBD__Aligned.html" target="_self">RGBD_Aligned</a></td><td class="desc">D435 <a class="el" href="classcamera_1_1d435new_1_1Color.html">Color</a> + <a class="el" href="classcamera_1_1d435new_1_1Depth.html">Depth</a> (RGB+D) image capture class </td></tr>
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+<tr id="row_7_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1rostopic_1_1RGBD.html" target="_self">RGBD</a></td><td class="desc">Class for ROS-based depth camera subsrciber </td></tr>
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+<tr id="row_8_0_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_8_0_" class="arrow" onclick="toggleFolder('8_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html" target="_self">Simple</a></td><td class="desc"></td></tr>
+<tr id="row_8_0_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html" target="_self">TwoAgent</a></td><td class="desc"></td></tr>
+<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html" target="_self">BaseSurveillanceDeploy</a></td><td class="desc"></td></tr>
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+<tr id="row_10_0_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_10_0_" class="arrow" onclick="toggleFolder('10_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html" target="_self">SimTimeLess</a></td><td class="desc"></td></tr>
+<tr id="row_10_0_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html" target="_self">SimTime</a></td><td class="desc"></td></tr>
+<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html" target="_self">bcolors</a></td><td class="desc"></td></tr>
+<tr id="row_12_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_12_" class="arrow" onclick="toggleFolder('12_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1board_1_1Board.html" target="_self">Board</a></td><td class="desc">Class description for a board, which is a locality sensitive bag </td></tr>
+<tr id="row_12_0_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_12_0_" class="arrow" onclick="toggleFolder('12_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html" target="_self">Arrangement</a></td><td class="desc">A puzzle that simply needs to arrange pieces on a workspace </td></tr>
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+<tr id="row_12_0_0_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_12_0_0_0_" class="arrow" onclick="toggleFolder('12_0_0_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html" target="_self">Interlocking</a></td><td class="desc">Puzzle with interlocking pieces </td></tr>
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+<tr id="row_12_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html" target="_self">ByShape</a></td><td class="desc">Clustering by shape </td></tr>
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+<tr id="row_13_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1fromBottom.html" target="_self">fromBottom</a></td><td class="desc"></td></tr>
+<tr id="row_13_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1fromTop.html" target="_self">fromTop</a></td><td class="desc"></td></tr>
+<tr id="row_14_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_14_" class="arrow" onclick="toggleFolder('14_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>CfgCamera</b></td><td class="desc"></td></tr>
+<tr id="row_14_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1cv2cam_1_1CfgColor.html" target="_self">CfgColor</a></td><td class="desc">Configuration setting specifier for OpenCV2 camera interface </td></tr>
+<tr id="row_15_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_15_" class="arrow" onclick="toggleFolder('15_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>CfgCamera</b></td><td class="desc"></td></tr>
+<tr id="row_15_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1rostopic_1_1CfgROSCam.html" target="_self">CfgROSCam</a></td><td class="desc">Configuration setting specifier for ROS connected camera </td></tr>
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+<tr id="row_18_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_18_" class="arrow" onclick="toggleFolder('18_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classchannels_1_1Channel.html" target="_self">Channel</a></td><td class="desc">Base/abstract channel class </td></tr>
+<tr id="row_18_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classchannels_1_1Assignment.html" target="_self">Assignment</a></td><td class="desc"><a class="el" href="classchannels_1_1Assignment.html" title="Assignment class for communication between BeatReporter and Editor.">Assignment</a> class for communication between BeatReporter and Editor </td></tr>
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+<tr id="row_19_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1rostopic_1_1Color.html" target="_self">Color</a></td><td class="desc">Class for ROS-based camera runners </td></tr>
+<tr id="row_20_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_20_" class="arrow" onclick="toggleFolder('20_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>Color</b></td><td class="desc"></td></tr>
+<tr id="row_20_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1cv2cam_1_1Color.html" target="_self">Color</a></td><td class="desc">OpenCV based camera interface </td></tr>
+<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1d435new_1_1Config__D435.html" target="_self">Config_D435</a></td><td class="desc">Simple configuration structure for the D435 camera </td></tr>
+<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1board_1_1CorrespondenceParms.html" target="_self">CorrespondenceParms</a></td><td class="desc"></td></tr>
+<tr id="row_23_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html" target="_self">Correspondences</a></td><td class="desc">Class that compares two boards and generates correspondences across them </td></tr>
+<tr id="row_24_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html" target="_self">CtoW_Calibrator_aruco</a></td><td class="desc">Wrapper for aruco tag camera-to-workspace extrinsic matrix calibration (M_CL) </td></tr>
+<tr id="row_25_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Configs.html" target="_self">D435_Configs</a></td><td class="desc"></td></tr>
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+<tr id="row_26_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecRosbag.html" target="_self">D435RecRosbag</a></td><td class="desc"></td></tr>
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+<tr id="row_28_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html" target="_self">DetectorState</a></td><td class="desc"></td></tr>
+<tr id="row_29_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html" target="_self">DetectorState</a></td><td class="desc"></td></tr>
+<tr id="row_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1base_1_1DetectorState.html" target="_self">DetectorState</a></td><td class="desc">Basic version of a detector state </td></tr>
+<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState.html" target="_self">DetectorState</a></td><td class="desc"></td></tr>
+<tr id="row_32_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html" target="_self">DetStateHand</a></td><td class="desc"></td></tr>
+<tr id="row_33_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1dict2struct.html" target="_self">dict2struct</a></td><td class="desc"></td></tr>
+<tr id="row_34_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1activity_1_1utils_1_1DynamicDisplay.html" target="_self">DynamicDisplay</a></td><td class="desc"></td></tr>
+<tr id="row_35_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1EdgeDes.html" target="_self">EdgeDes</a></td><td class="desc"></td></tr>
+<tr id="row_36_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1reporting_1_1Editor.html" target="_self">Editor</a></td><td class="desc"><a class="el" href="classperceiver_1_1reporting_1_1Editor.html" title="Editor class manages multiple reporters and curates information going to the output channel based on ...">Editor</a> class manages multiple reporters and curates information going to the output channel based on reporter commentary </td></tr>
+<tr id="row_37_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html" target="_self">frameTransformer</a></td><td class="desc"></td></tr>
+<tr id="row_38_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1GMMdebug.html" target="_self">GMMdebug</a></td><td class="desc"></td></tr>
+<tr id="row_39_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1GMMstate.html" target="_self">GMMstate</a></td><td class="desc"></td></tr>
+<tr id="row_40_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_40_" class="arrow" onclick="toggleFolder('40_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>Grayscale</b></td><td class="desc"></td></tr>
+<tr id="row_40_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1rostopic_1_1Depth.html" target="_self">Depth</a></td><td class="desc">Class for ROS-based depth camera subsrciber </td></tr>
+<tr id="row_41_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html" target="_self">Hand</a></td><td class="desc"></td></tr>
+<tr id="row_42_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html" target="_self">HeightEstimator</a></td><td class="desc"></td></tr>
+<tr id="row_43_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html" target="_self">ImageListener</a></td><td class="desc"></td></tr>
+<tr id="row_44_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1base_1_1ImageRGBD.html" target="_self">ImageRGBD</a></td><td class="desc"></td></tr>
+<tr id="row_45_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classimprocessor_1_1basic_1_1improcessor.html" target="_self">improcessor</a></td><td class="desc"></td></tr>
+<tr id="row_46_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_46_" class="arrow" onclick="toggleFolder('46_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>inCorner</b></td><td class="desc"></td></tr>
+<tr id="row_46_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_47_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_47_" class="arrow" onclick="toggleFolder('47_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>inCornerEstimator</b></td><td class="desc"></td></tr>
+<tr id="row_47_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_48_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1Info.html" target="_self">Info</a></td><td class="desc"></td></tr>
+<tr id="row_49_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_49_" class="arrow" onclick="toggleFolder('49_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>inImageRGBD</b></td><td class="desc"></td></tr>
+<tr id="row_49_0_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_49_0_" class="arrow" onclick="toggleFolder('49_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_49_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_49_1_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_49_1_" class="arrow" onclick="toggleFolder('49_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_49_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_49_2_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_49_2_" class="arrow" onclick="toggleFolder('49_2_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html" target="_self">Detector</a></td><td class="desc"></td></tr>
+<tr id="row_49_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_49_3_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_49_3_" class="arrow" onclick="toggleFolder('49_3_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html" target="_self">Detectors</a></td><td class="desc"></td></tr>
+<tr id="row_49_3_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html" target="_self">Calibrator</a></td><td class="desc"></td></tr>
+<tr id="row_50_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html" target="_self">InstDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_51_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html" target="_self">InstDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_52_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGloveDetector.html" target="_self">InstGloveDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_53_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGloveDetector.html" target="_self">InstGloveDetector</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_54_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html" target="_self">InstGlovePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_55_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html" target="_self">InstGlovePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_56_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html" target="_self">InstPerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_57_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html" target="_self">InstPerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_58_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzlePerceiver.html" target="_self">InstPuzzlePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver </td></tr>
+<tr id="row_59_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1InstPuzzlePerceiver.html" target="_self">InstPuzzlePerceiver</a></td><td class="desc">Class for collecting visual processing methods needed by the Puzzle pieces perceiver </td></tr>
+<tr id="row_60_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html" target="_self">InstPuzzleScene</a></td><td class="desc">Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter </td></tr>
+<tr id="row_61_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1manager_1_1ManagerParms.html" target="_self">ManagerParms</a></td><td class="desc"></td></tr>
+<tr id="row_62_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_62_" class="arrow" onclick="toggleFolder('62_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" target="_self">Matcher</a></td><td class="desc">Generic puzzle piece matching class. Actual instances should use similarity of difference matching sub-classes </td></tr>
+<tr id="row_62_0_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_62_0_" class="arrow" onclick="toggleFolder('62_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" target="_self">MatchDifferent</a></td><td class="desc">The puzzle piece matching scores are based on differences. Lower is better </td></tr>
+<tr id="row_62_0_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html" target="_self">Edge</a></td><td class="desc">Puzzle piece edge based comparison </td></tr>
+<tr id="row_62_0_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html" target="_self">Distance</a></td><td class="desc">Distance-based puzzle piece matching </td></tr>
+<tr id="row_62_0_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html" target="_self">HistogramCV</a></td><td class="desc">OpenCV Histogram puzzle comparator class </td></tr>
+<tr id="row_62_0_3_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" target="_self">Moments</a></td><td class="desc">Uses shape moments to establish similarity </td></tr>
+<tr id="row_62_0_4_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html" target="_self">PCA</a></td><td class="desc">Uses pca to calculate rotation </td></tr>
+<tr id="row_62_1_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_62_1_" class="arrow" onclick="toggleFolder('62_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html" target="_self">MatchSimilar</a></td><td class="desc">Similarity matching </td></tr>
+<tr id="row_62_1_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html" target="_self">SIFTCV</a></td><td class="desc">Uses sift features to establish similarity </td></tr>
+<tr id="row_62_1_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html" target="_self">Sift</a></td><td class="desc"></td></tr>
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+<tr id="row_63_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1utils_1_1writer_1_1frameWriter.html" target="_self">frameWriter</a></td><td class="desc"></td></tr>
+<tr id="row_63_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1utils_1_1writer_1_1vidWriter.html" target="_self">vidWriter</a></td><td class="desc"></td></tr>
+<tr id="row_63_2_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html" target="_self">vidWriter_ROS</a></td><td class="desc"></td></tr>
+<tr id="row_63_3_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_63_3_" class="arrow" onclick="toggleFolder('63_3_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1base_1_1Base.html" target="_self">Base</a></td><td class="desc"><a class="el" href="classdetector_1_1base_1_1Base.html" title="Base or root implementation of detector class.">Base</a> or root implementation of detector class </td></tr>
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+<tr id="row_63_3_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classbyRegion_1_1imageRegions.html" target="_self">imageRegions</a></td><td class="desc">Activity states depend on having signal lying in specific regions of an image. Signal is presumably in image pixels </td></tr>
+<tr id="row_63_3_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classbyRegion_1_1Planar.html" target="_self">Planar</a></td><td class="desc">Activity detection based on lying in specific planar regions </td></tr>
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+<tr id="row_63_3_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classbyRegion_1_1imageOccupancy.html" target="_self">imageOccupancy</a></td><td class="desc">Activity states depend on having true image values lying in specific regions of an image. Signal is a full image </td></tr>
+<tr id="row_63_3_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_63_3_1_1_" class="arrow" onclick="toggleFolder('63_3_1_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1inImage_1_1bgImage.html" target="_self">bgImage</a></td><td class="desc">The most basic object or instance detector from image input </td></tr>
+<tr id="row_63_3_1_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgConical.html" target="_self">bgConical</a></td><td class="desc">Implements a single <a class="el" href="namespacedetector_1_1bgmodel_1_1Gaussian.html">Gaussian</a> background model with conical error </td></tr>
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+<tr id="row_63_3_1_1_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html" target="_self">onWorkspace</a></td><td class="desc">Applies half-Gaussian model with premise that targets lie to one side of the distribution </td></tr>
+<tr id="row_63_3_1_1_2_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html" target="_self">bgmodelGMM</a></td><td class="desc"></td></tr>
+<tr id="row_63_3_1_1_3_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html" target="_self">bgmodelGMM_cv</a></td><td class="desc"></td></tr>
+<tr id="row_63_3_1_1_4_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_63_3_1_1_4_" class="arrow" onclick="toggleFolder('63_3_1_1_4_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html" target="_self">inCorner</a></td><td class="desc">Class instance for extracting background that lies with the corner region of the RGB color cube, or the extremal regions of a color-space based on a planar cut </td></tr>
+<tr id="row_63_3_1_1_4_0_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html" target="_self">inCornerEstimator</a></td><td class="desc">Wrapper to <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html" title="Class instance for extracting background that lies with the corner region of the RGB color cube,...">inCorner</a> that performs estimation for caliration and saving </td></tr>
+<tr id="row_63_3_1_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_63_3_1_2_" class="arrow" onclick="toggleFolder('63_3_1_2_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1inImage_1_1fgImage.html" target="_self">fgImage</a></td><td class="desc">The most basic object or instance detector from image input </td></tr>
+<tr id="row_63_3_1_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_63_3_1_2_0_" class="arrow" onclick="toggleFolder('63_3_1_2_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html" target="_self">fgAppearance</a></td><td class="desc">Appearance based object detection </td></tr>
+<tr id="row_63_3_1_2_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html" target="_self">targetCorner</a></td><td class="desc">Class instance for extracting targets that lie with the corner region of the RGB color cube, or the extremal regions of a color-space based on a planar cut </td></tr>
+<tr id="row_63_3_1_2_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html" target="_self">targetMagenta</a></td><td class="desc">Class instance for extracting bright/neon magenta targets, which tend to lie in a corner region of the RGB color cube. <br  />
  </td></tr>
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-<tr id="row_35_13_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html" target="_self">FromLayer</a></td><td class="desc">A basic detector class that processes a layered image (or mask and image) detection output. Converts all isolated regions into their own puzzle piece instances </td></tr>
-<tr id="row_35_13_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html" target="_self">boardMeasure</a></td><td class="desc">Puzzle piece board measurement class, based on puzzle piece layer parsing </td></tr>
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-<tr id="row_36_0_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_36_0_" class="arrow" onclick="toggleFolder('36_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html" target="_self">ParamSTL</a></td><td class="desc"></td></tr>
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-<tr id="row_37_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html" target="_self">ParamColorCluster</a></td><td class="desc">Configuration parameter struct for <a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html" title="Extract color features for all the pieces in a given puzzle board.">byColor</a> clustering </td></tr>
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-<tr id="row_39_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html" target="_self">ParamPuzzle</a></td><td class="desc"></td></tr>
-<tr id="row_40_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
-<tr id="row_41_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1Params__cv.html" target="_self">Params_cv</a></td><td class="desc">The parameters for the <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html">bgmodelGMM_cv</a> </td></tr>
-<tr id="row_42_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ParamShapeCluster.html" target="_self">ParamShapeCluster</a></td><td class="desc"></td></tr>
-<tr id="row_43_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_43_" class="arrow" onclick="toggleFolder('43_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>Perceiver</b></td><td class="desc"></td></tr>
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-<tr id="row_45_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Piece.html" target="_self">Piece</a></td><td class="desc">Bad code here </td></tr>
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-<tr id="row_67_1_5_0_2_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html" target="_self">CfgMoments</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity.">Moments</a> class </td></tr>
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-<tr id="row_67_1_5_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html" target="_self">CfgSIFTCV</a></td><td class="desc">Configuration setting specifier for OpenCV SIFT matcher class </td></tr>
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-<tr id="row_67_1_6_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_67_1_6_0_" class="arrow" onclick="toggleFolder('67_1_6_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html" target="_self">CfgCentMulti</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a> </td></tr>
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-<tr id="row_67_1_6_0_0_0_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:112px;display:inline-block;">&#160;</span><span id="arr_67_1_6_0_0_0_0_0_" class="arrow" onclick="toggleFolder('67_1_6_0_0_0_0_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html" target="_self">CfgInterlocking</a></td><td class="desc">Configuration setting specifier for centroidMulti </td></tr>
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+<tr id="row_72_0_1_2_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_73_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_73_" class="arrow" onclick="toggleFolder('73_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>Params_cv</b></td><td class="desc"></td></tr>
+<tr id="row_73_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html" target="_self">Params_GMM</a></td><td class="desc"></td></tr>
+<tr id="row_74_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1Params__cv.html" target="_self">Params_cv</a></td><td class="desc">The parameters for the <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html">bgmodelGMM_cv</a> </td></tr>
+<tr id="row_75_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ParamShapeCluster.html" target="_self">ParamShapeCluster</a></td><td class="desc"></td></tr>
+<tr id="row_76_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_76_" class="arrow" onclick="toggleFolder('76_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>Perceiver</b></td><td class="desc"></td></tr>
+<tr id="row_76_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html" target="_self">PuzzlePerceiver</a></td><td class="desc"></td></tr>
+<tr id="row_76_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_76_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html" target="_self">PerceiveGloveBC</a></td><td class="desc">Perceiver based on detecting glove by color </td></tr>
+<tr id="row_76_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_76_4_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_77_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_77_" class="arrow" onclick="toggleFolder('77_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>Perceiver</b></td><td class="desc"></td></tr>
+<tr id="row_77_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html" target="_self">Simple</a></td><td class="desc"></td></tr>
+<tr id="row_77_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html" target="_self">boardPerceive</a></td><td class="desc">A simple perceiver for recovering puzzle pieces from a layer mask and an image. If desired, can do piece association </td></tr>
+<tr id="row_78_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html" target="_self">PerceiverState</a></td><td class="desc"></td></tr>
+<tr id="row_79_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Piece.html" target="_self">Piece</a></td><td class="desc">Bad code here </td></tr>
+<tr id="row_80_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_80_" class="arrow" onclick="toggleFolder('80_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html" target="_self">Planner</a></td><td class="desc"></td></tr>
+<tr id="row_80_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html" target="_self">PlannerHand</a></td><td class="desc"></td></tr>
+<tr id="row_81_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1utils_1_1display_1_1plotfig.html" target="_self">plotfig</a></td><td class="desc"></td></tr>
+<tr id="row_82_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classivapy_1_1display__cv_1_1plotfig.html" target="_self">plotfig</a></td><td class="desc"></td></tr>
+<tr id="row_83_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1progress_1_1ProgressState.html" target="_self">ProgressState</a></td><td class="desc"></td></tr>
+<tr id="row_84_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html" target="_self">PuzzleTemplate</a></td><td class="desc">Data class containing puzzle piece information </td></tr>
+<tr id="row_85_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_85_" class="arrow" onclick="toggleFolder('85_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html" target="_self">RealSolver</a></td><td class="desc"></td></tr>
+<tr id="row_85_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html" target="_self">RealSolverROS</a></td><td class="desc"></td></tr>
+<tr id="row_86_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_86_" class="arrow" onclick="toggleFolder('86_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html" target="_self">RegionGrower_base</a></td><td class="desc"></td></tr>
+<tr id="row_86_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1MaskGrower.html" target="_self">MaskGrower</a></td><td class="desc"></td></tr>
+<tr id="row_86_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html" target="_self">RegionGrower_ValDiff</a></td><td class="desc"></td></tr>
+<tr id="row_87_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_87_" class="arrow" onclick="toggleFolder('87_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1reporting_1_1Reporter.html" target="_self">Reporter</a></td><td class="desc">Base/abstract reporter class </td></tr>
+<tr id="row_87_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1reporting_1_1BeatReporter.html" target="_self">BeatReporter</a></td><td class="desc">Specialized reporter class that works with an editor </td></tr>
+<tr id="row_88_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html" target="_self">RG_Params</a></td><td class="desc"></td></tr>
+<tr id="row_89_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html" target="_self">SceneInterpreterV1</a></td><td class="desc"></td></tr>
+<tr id="row_90_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1SGMdebug.html" target="_self">SGMdebug</a></td><td class="desc"></td></tr>
+<tr id="row_91_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1SGMdebug.html" target="_self">SGMdebug</a></td><td class="desc">Data class for storing <a class="el" href="namespacedetector_1_1fgmodel_1_1Gaussian.html">Gaussian</a> mean and variance diagonal </td></tr>
+<tr id="row_92_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1SGMstate.html" target="_self">SGMstate</a></td><td class="desc">Data class for storing <a class="el" href="namespacedetector_1_1fgmodel_1_1Gaussian.html">Gaussian</a> foreground output </td></tr>
+<tr id="row_93_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1SGMstate.html" target="_self">SGMstate</a></td><td class="desc"></td></tr>
+<tr id="row_94_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_94_" class="arrow" onclick="toggleFolder('94_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>simple</b></td><td class="desc"></td></tr>
+<tr id="row_94_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_95_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_95_" class="arrow" onclick="toggleFolder('95_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>simple</b></td><td class="desc"></td></tr>
+<tr id="row_95_0_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_95_0_" class="arrow" onclick="toggleFolder('95_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html" target="_self">Base</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_95_0_0_" class="arrow" onclick="toggleFolder('95_0_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html" target="_self">Base_bg</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html" target="_self">tabletop_GMM</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_95_0_1_" class="arrow" onclick="toggleFolder('95_0_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html" target="_self">Base_fg</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_95_0_1_0_" class="arrow" onclick="toggleFolder('95_0_1_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html" target="_self">Human_ColorSG</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_1_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html" target="_self">Human_ColorSG_HeightInRange</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html" target="_self">Puzzle_Residual</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_1_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_95_0_1_2_" class="arrow" onclick="toggleFolder('95_0_1_2_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html" target="_self">robot_inRange</a></td><td class="desc"></td></tr>
+<tr id="row_95_0_1_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html" target="_self">robot_inRange_Height</a></td><td class="desc"></td></tr>
+<tr id="row_96_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1specifications.html" target="_self">specifications</a></td><td class="desc"></td></tr>
+<tr id="row_97_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpaths_1_1StepLines.html" target="_self">StepLines</a></td><td class="desc">Given a set of points representing piecewise line segments, provides an interface for generating them as a path of discrete points/steps </td></tr>
+<tr id="row_98_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_98_" class="arrow" onclick="toggleFolder('98_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html" target="_self">tabletopPlaneEstimator</a></td><td class="desc"></td></tr>
+<tr id="row_98_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1tabletop_1_1height__estimator_1_1HeightEstimator.html" target="_self">HeightEstimator</a></td><td class="desc"></td></tr>
+<tr id="row_99_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_99_" class="arrow" onclick="toggleFolder('99_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>targetSG_Params</b></td><td class="desc"></td></tr>
+<tr id="row_99_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_100_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_100_" class="arrow" onclick="toggleFolder('100_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Template.html" target="_self">Template</a></td><td class="desc">Stores and encapsulates a template instance of a visual puzzle piece </td></tr>
+<tr id="row_100_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1piece_1_1Regular.html" target="_self">Regular</a></td><td class="desc">A puzzle has <a class="el" href="classpuzzle_1_1piece_1_1Regular.html" title="A puzzle has Regular pieces when they are all of a consistent sizing such that their edge structure c...">Regular</a> pieces when they are all of a consistent sizing such that their edge structure can be compared in a standard North, South, East, West approach </td></tr>
+<tr id="row_101_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html" target="_self">TextRectException</a></td><td class="desc"></td></tr>
+<tr id="row_102_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1tModel__SG.html" target="_self">tModel_SG</a></td><td class="desc"></td></tr>
+<tr id="row_103_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html" target="_self">TrackState</a></td><td class="desc"></td></tr>
+<tr id="row_104_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_104_" class="arrow" onclick="toggleFolder('104_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Trigger.html" target="_self">Trigger</a></td><td class="desc">Base/abstract trigger class </td></tr>
+<tr id="row_104_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Always.html" target="_self">Always</a></td><td class="desc">Class that always triggers a report </td></tr>
+<tr id="row_104_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Falling.html" target="_self">Falling</a></td><td class="desc">Class that triggers a report when binary state changes, on falling edge </td></tr>
+<tr id="row_104_2_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1onChange.html" target="_self">onChange</a></td><td class="desc">Class that triggers a report when the state changes </td></tr>
+<tr id="row_104_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1onMatch.html" target="_self">onMatch</a></td><td class="desc">Class that triggers a report when the state matches a target state </td></tr>
+<tr id="row_104_4_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1Rising.html" target="_self">Rising</a></td><td class="desc">Class that triggers a report when binary state changes, on rising edge </td></tr>
+<tr id="row_104_5_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenClose.html" target="_self">whenClose</a></td><td class="desc">Class that triggers a report when current state is close to target state </td></tr>
+<tr id="row_104_6_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenDiffers.html" target="_self">whenDiffers</a></td><td class="desc">Class that triggers a report when current state differs from previous state </td></tr>
+<tr id="row_104_7_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenFar.html" target="_self">whenFar</a></td><td class="desc">Class that triggers a report when current state is far fromo target state </td></tr>
+<tr id="row_104_8_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtriggers_1_1whenSimilar.html" target="_self">whenSimilar</a></td><td class="desc">Class that triggers a report when current state is similar to previous state </td></tr>
+<tr id="row_105_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_105_" class="arrow" onclick="toggleFolder('105_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>basic</b></td><td class="desc"></td></tr>
+<tr id="row_105_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classimprocessor_1_1mask_1_1mask.html" target="_self">mask</a></td><td class="desc"></td></tr>
+<tr id="row_106_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_106_" class="arrow" onclick="toggleFolder('106_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>CfgNode</b></td><td class="desc"></td></tr>
+<tr id="row_106_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1d435_1_1runner2_1_1CfgD435.html" target="_self">CfgD435</a></td><td class="desc">Configuration setting specifier for the D435 camera </td></tr>
+<tr id="row_106_1_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_106_1_" class="arrow" onclick="toggleFolder('106_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html" target="_self">AlgConfig</a></td><td class="desc"></td></tr>
+<tr id="row_106_1_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classbyMotion_1_1CfgMoving.html" target="_self">CfgMoving</a></td><td class="desc">Configuration setting specifier for "motion" detector </td></tr>
+<tr id="row_106_1_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_106_1_1_" class="arrow" onclick="toggleFolder('106_1_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGM.html" target="_self">CfgSGM</a></td><td class="desc"><a class="el" href="namespacedetector_1_1Configuration.html">Configuration</a> setting specifier for <a class="el" href="namespacedetector_1_1bgmodel_1_1Gaussian.html">Gaussian</a> BG model </td></tr>
+<tr id="row_106_1_1_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGCone.html" target="_self">CfgSGCone</a></td><td class="desc"><a class="el" href="namespacedetector_1_1Configuration.html">Configuration</a> setting specifier for <a class="el" href="namespacedetector_1_1bgmodel_1_1Gaussian.html">Gaussian</a> BG conical model </td></tr>
+<tr id="row_106_1_1_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1CfgOnWS.html" target="_self">CfgOnWS</a></td><td class="desc"><a class="el" href="namespacedetector_1_1Configuration.html">Configuration</a> setting specifier for <a class="el" href="namespacedetector_1_1bgmodel_1_1Gaussian.html">Gaussian</a> workspace model </td></tr>
+<tr id="row_106_1_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1CfgGMM__cv.html" target="_self">CfgGMM_cv</a></td><td class="desc"><a class="el" href="namespacedetector_1_1Configuration.html">Configuration</a> setting specifier for <a class="el" href="namespacedetector_1_1bgmodel_1_1Gaussian.html">Gaussian</a> BG model </td></tr>
+<tr id="row_106_1_3_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1CfgInCorner.html" target="_self">CfgInCorner</a></td><td class="desc"><a class="el" href="namespacedetector_1_1Configuration.html">Configuration</a> setting specifier for <a class="el" href="namespacedetector_1_1bgmodel_1_1Gaussian.html">Gaussian</a> workspace model </td></tr>
+<tr id="row_106_1_4_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html" target="_self">CfgCorrespondences</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html" title="Class that compares two boards and generates correspondences across them.">Correspondences</a> class </td></tr>
+<tr id="row_106_1_5_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_106_1_5_" class="arrow" onclick="toggleFolder('106_1_5_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html" target="_self">CfgMatcher</a></td><td class="desc">Configuration setting specifier for puzzle piece matcher class </td></tr>
+<tr id="row_106_1_5_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_106_1_5_0_" class="arrow" onclick="toggleFolder('106_1_5_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" target="_self">CfgDifferent</a></td><td class="desc">Configuration setting specifier for difference matcher class </td></tr>
+<tr id="row_106_1_5_0_0_" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html" target="_self">CfgDistance</a></td><td class="desc">Configuration setting specifier for distance matcher class </td></tr>
+<tr id="row_106_1_5_0_1_" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html" target="_self">CfgHistogramCV</a></td><td class="desc">Configuration setting specifier for Histogram puzzle comparator class </td></tr>
+<tr id="row_106_1_5_0_2_" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html" target="_self">CfgMoments</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity.">Moments</a> class </td></tr>
+<tr id="row_106_1_5_0_3_" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html" target="_self">CfgPCA</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity.">Moments</a> class </td></tr>
+<tr id="row_106_1_5_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_106_1_5_1_" class="arrow" onclick="toggleFolder('106_1_5_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html" target="_self">CfgSimilar</a></td><td class="desc">Configuration setting specifier for similar matcher class </td></tr>
+<tr id="row_106_1_5_1_0_" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html" target="_self">CfgSIFTCV</a></td><td class="desc">Configuration setting specifier for OpenCV SIFT matcher class </td></tr>
+<tr id="row_106_1_6_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html" target="_self">CfgGloveDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_106_1_7_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html" target="_self">CfgGloveDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_106_1_8_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html" target="_self">CfgHandDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_106_1_9_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html" target="_self">CfgHandDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_106_1_10_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html" target="_self">CfgPuzzleScene</a></td><td class="desc">Configuration instance for Puzzle Scene perceiver </td></tr>
+<tr id="row_106_1_11_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_106_1_11_" class="arrow" onclick="toggleFolder('106_1_11_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html" target="_self">CfgCentroid</a></td><td class="desc"></td></tr>
+<tr id="row_106_1_11_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_106_1_11_0_" class="arrow" onclick="toggleFolder('106_1_11_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html" target="_self">CfgCentMulti</a></td><td class="desc">Configuration setting specifier for <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a> </td></tr>
+<tr id="row_106_1_11_0_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_106_1_11_0_0_" class="arrow" onclick="toggleFolder('106_1_11_0_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html" target="_self">CfgBoardMeasure</a></td><td class="desc">Configuration setting specifier for centroidMulti </td></tr>
+<tr id="row_106_1_11_0_0_0_" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span id="arr_106_1_11_0_0_0_" class="arrow" onclick="toggleFolder('106_1_11_0_0_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html" target="_self">CfgArrangement</a></td><td class="desc">Configuration setting specifier for centroidMulti </td></tr>
+<tr id="row_106_1_11_0_0_0_0_" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span id="arr_106_1_11_0_0_0_0_" class="arrow" onclick="toggleFolder('106_1_11_0_0_0_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html" target="_self">CfgAdjacent</a></td><td class="desc">Configuration setting specifier for Arrangement </td></tr>
+<tr id="row_106_1_11_0_0_0_0_0_" style="display:none;"><td class="entry"><span style="width:112px;display:inline-block;">&#160;</span><span id="arr_106_1_11_0_0_0_0_0_" class="arrow" onclick="toggleFolder('106_1_11_0_0_0_0_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html" target="_self">CfgInterlocking</a></td><td class="desc">Configuration setting specifier for centroidMulti </td></tr>
+<tr id="row_106_1_11_0_0_0_0_0_0_" style="display:none;"><td class="entry"><span style="width:144px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html" target="_self">CfgGridded</a></td><td class="desc">Configuration setting specifier for gridded puzzle </td></tr>
+<tr id="row_106_1_12_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html" target="_self">CfgCentroind</a></td><td class="desc">Configuration setting specifier for <a class="el" href="namespacetrackpointer_1_1centroidMulti.html">centroidMulti</a> </td></tr>
+<tr id="row_106_2_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_106_2_" class="arrow" onclick="toggleFolder('106_2_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classivapy_1_1Configuration_1_1AlgConfig.html" target="_self">AlgConfig</a></td><td class="desc">Base class for algorithm configuration </td></tr>
+<tr id="row_106_2_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1base_1_1CfgCamera.html" target="_self">CfgCamera</a></td><td class="desc">Configuration setting specifier for generic camera </td></tr>
+<tr id="row_106_2_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_106_2_1_" class="arrow" onclick="toggleFolder('106_2_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classchannels_1_1CfgChannel.html" target="_self">CfgChannel</a></td><td class="desc">Configuration instance for a <a class="el" href="classchannels_1_1Channel.html" title="Base/abstract channel class.">Channel</a> </td></tr>
+<tr id="row_106_2_1_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classchannels_1_1CfgToFile.html" target="_self">CfgToFile</a></td><td class="desc">Configuration instance for a <a class="el" href="classchannels_1_1Channel.html" title="Base/abstract channel class.">Channel</a> </td></tr>
+<tr id="row_106_2_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1CfgSGT.html" target="_self">CfgSGT</a></td><td class="desc"><a class="el" href="namespacedetector_1_1Configuration.html">Configuration</a> setting specifier for <a class="el" href="namespacedetector_1_1fgmodel_1_1Gaussian.html">Gaussian</a> BG model </td></tr>
+<tr id="row_106_2_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_106_2_3_" class="arrow" onclick="toggleFolder('106_2_3_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrafts_1_1CfgAnnouncement.html" target="_self">CfgAnnouncement</a></td><td class="desc">Configuration instance for an <a class="el" href="classdrafts_1_1Announcement.html" title="Base/abstract announcer class.">Announcement</a> </td></tr>
+<tr id="row_106_2_3_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrafts_1_1CfgCommentary.html" target="_self">CfgCommentary</a></td><td class="desc">Configuration instance for <a class="el" href="classdrafts_1_1Commentary.html" title="Commentary class, which does not transcribe the signal but passes it along in some non-text format.">Commentary</a> </td></tr>
+<tr id="row_106_2_3_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdrafts_1_1CfgRunningCommentary.html" target="_self">CfgRunningCommentary</a></td><td class="desc">Configuration instance for <a class="el" href="classdrafts_1_1RunningCommentary.html" title="Commentary class that also keeps track of past information and reports it all out when requested....">RunningCommentary</a> </td></tr>
+<tr id="row_106_2_4_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_106_2_4_" class="arrow" onclick="toggleFolder('106_2_4_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classivapy_1_1Configuration_1_1BuildConfig.html" target="_self">BuildConfig</a></td><td class="desc">Base class for algorithm builder configuration </td></tr>
+<tr id="row_106_2_4_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1monitor_1_1BuildCfgMonitor.html" target="_self">BuildCfgMonitor</a></td><td class="desc">Build configuration instance for a monitor. <br  />
  </td></tr>
-<tr id="row_67_2_4_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1progress_1_1BuildCfgProgress.html" target="_self">BuildCfgProgress</a></td><td class="desc">Build configuration instance for a progress monitor. <br  />
+<tr id="row_106_2_4_1_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1progress_1_1BuildCfgProgress.html" target="_self">BuildCfgProgress</a></td><td class="desc">Build configuration instance for a progress monitor. <br  />
  </td></tr>
-<tr id="row_67_2_5_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classivapy_1_1Configuration_1_1ROSConfig.html" target="_self">ROSConfig</a></td><td class="desc">Base class for ROS-based robot, node, algorithm configuration </td></tr>
-<tr id="row_67_2_6_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpaths_1_1CfgStepLines.html" target="_self">CfgStepLines</a></td><td class="desc">Configuration specifier for piecewise lines instance </td></tr>
-<tr id="row_67_2_7_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1monitor_1_1CfgMonitor.html" target="_self">CfgMonitor</a></td><td class="desc">Configuration instance for a <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html" title="A simple interface class for monitoring the outcomes of a perceived scene.">Monitor</a>. <br  />
+<tr id="row_106_2_5_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classivapy_1_1Configuration_1_1ROSConfig.html" target="_self">ROSConfig</a></td><td class="desc">Base class for ROS-based robot, node, algorithm configuration </td></tr>
+<tr id="row_106_2_6_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpaths_1_1CfgStepLines.html" target="_self">CfgStepLines</a></td><td class="desc">Configuration specifier for piecewise lines instance </td></tr>
+<tr id="row_106_2_7_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1monitor_1_1CfgMonitor.html" target="_self">CfgMonitor</a></td><td class="desc">Configuration instance for a <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html" title="A simple interface class for monitoring the outcomes of a perceived scene.">Monitor</a>. <br  />
  </td></tr>
-<tr id="row_67_2_8_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html" target="_self">BuildCfgPerceiver</a></td><td class="desc">Build configuration instance for a perceiver. <br  />
+<tr id="row_106_2_8_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html" target="_self">BuildCfgPerceiver</a></td><td class="desc">Build configuration instance for a perceiver. <br  />
  </td></tr>
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diff --git a/docs/inherit_graph_108.map b/docs/inherit_graph_108.map
index b80948cd..702e34d1 100644
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diff --git a/docs/inherit_graph_109.map b/docs/inherit_graph_109.map
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diff --git a/docs/inherit_graph_17.map b/docs/inherit_graph_17.map
index 9deb10a6..09547165 100644
--- a/docs/inherit_graph_17.map
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diff --git a/docs/inherit_graph_17.md5 b/docs/inherit_graph_17.md5
index 0b9de5af..36f06d28 100644
--- a/docs/inherit_graph_17.md5
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diff --git a/docs/inherit_graph_21.map b/docs/inherit_graph_21.map
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diff --git a/docs/inherit_graph_21.md5 b/docs/inherit_graph_21.md5
index 78f16abc..21ec0c9f 100644
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diff --git a/docs/inherit_graph_27.map b/docs/inherit_graph_27.map
index 236223b1..59269e50 100644
--- a/docs/inherit_graph_27.map
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index d4532e2c..0673a689 100644
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diff --git a/docs/inherit_graph_33.map b/docs/inherit_graph_33.map
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@@ -1 +1 @@
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diff --git a/docs/inherit_graph_45.png b/docs/inherit_graph_45.png
index 6fc9317e1d9a95f7a1a7ad703f10da0e83ecef48..d0a08f3e95d8538288ce88617819a42ffe7627bd 100644
GIT binary patch
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diff --git a/docs/inherit_graph_46.map b/docs/inherit_graph_46.map
index aa225874..51ba3a29 100644
--- a/docs/inherit_graph_46.map
+++ b/docs/inherit_graph_46.map
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diff --git a/docs/inherit_graph_46.md5 b/docs/inherit_graph_46.md5
index 80665075..df0e9fb2 100644
--- a/docs/inherit_graph_46.md5
+++ b/docs/inherit_graph_46.md5
@@ -1 +1 @@
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diff --git a/docs/inherit_graph_46.png b/docs/inherit_graph_46.png
index 5f25242c81324fbe6c5888cb75a88806296acb16..8e46ecd213f1135da5f8528b69a69958ea36319c 100644
GIT binary patch
delta 709
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diff --git a/docs/inherit_graph_47.map b/docs/inherit_graph_47.map
index afe3046a..e1eb40b0 100644
--- a/docs/inherit_graph_47.map
+++ b/docs/inherit_graph_47.map
@@ -1,3 +1,3 @@
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diff --git a/docs/inherit_graph_47.md5 b/docs/inherit_graph_47.md5
index f0ff8618..c229b247 100644
--- a/docs/inherit_graph_47.md5
+++ b/docs/inherit_graph_47.md5
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diff --git a/docs/inherit_graph_47.png b/docs/inherit_graph_47.png
index f4712afaa1a5e8201fc4973bb0a3a49ad81e1bdf..33dbf7ae02fe2783e7bbcfcf8169128046e9178e 100644
GIT binary patch
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diff --git a/docs/inherit_graph_56.map b/docs/inherit_graph_56.map
index d0363655..0fd9182e 100644
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diff --git a/docs/inherit_graph_56.md5 b/docs/inherit_graph_56.md5
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diff --git a/docs/inherit_graph_60.map b/docs/inherit_graph_60.map
index 171f934f..d5a3a06b 100644
--- a/docs/inherit_graph_60.map
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diff --git a/docs/inherit_graph_60.md5 b/docs/inherit_graph_60.md5
index 2e651f47..f7fbd27e 100644
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diff --git a/docs/inherit_graph_61.map b/docs/inherit_graph_61.map
index b4cc95a0..9e260db1 100644
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diff --git a/docs/inherit_graph_61.md5 b/docs/inherit_graph_61.md5
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diff --git a/docs/inherit_graph_62.map b/docs/inherit_graph_62.map
index 82f5cae3..82e67e10 100644
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diff --git a/docs/inherit_graph_66.map b/docs/inherit_graph_66.map
index 88ea0e9c..cff2d18e 100644
--- a/docs/inherit_graph_66.map
+++ b/docs/inherit_graph_66.map
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diff --git a/docs/inherit_graph_66.md5 b/docs/inherit_graph_66.md5
index 0ba14bcc..85773da9 100644
--- a/docs/inherit_graph_66.md5
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diff --git a/docs/inherit_graph_73.map b/docs/inherit_graph_73.map
index b1e5ed29..2e756968 100644
--- a/docs/inherit_graph_73.map
+++ b/docs/inherit_graph_73.map
@@ -1,12 +1,5 @@
 <map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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diff --git a/docs/inherit_graph_73.md5 b/docs/inherit_graph_73.md5
index 1863f102..cc0083da 100644
--- a/docs/inherit_graph_73.md5
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diff --git a/docs/inherit_graph_84.map b/docs/inherit_graph_84.map
index ce378de3..66566ef8 100644
--- a/docs/inherit_graph_84.map
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diff --git a/docs/inherit_graph_84.md5 b/docs/inherit_graph_84.md5
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diff --git a/docs/inherit_graph_85.map b/docs/inherit_graph_85.map
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diff --git a/docs/inherit_graph_85.md5 b/docs/inherit_graph_85.md5
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diff --git a/docs/inherit_graph_86.map b/docs/inherit_graph_86.map
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-5f770db99dc7aaed3c1850e7fea1b504
-=======
-9540f0764e614fee982c7c01530b0b68
->>>>>>> fb8ea61c5563ccee8dddf076a835728d8989570d
+76f2fa2ed8bf5c0776f7a25d4fa3ad15
\ No newline at end of file
diff --git a/docs/inherit_graph_89.png b/docs/inherit_graph_89.png
index ff228176eaacf4ca1693d20d0896185f4f2e341d..0ce8e2bdc3c0df7e478eecffd8193e164dc21cfd 100644
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-<title>IVALab Python Libraries: /home/pvela/python/ivapy/ivapy.egg-info/dependency_links.txt File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/ivapy/ivapy.egg-info/dependency_links.txt File Reference</title>
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@@ -63,7 +63,7 @@
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-<div class="title">/home/pvela/python/ivapy/ivapy.egg-info/dependency_links.txt File Reference</div>  </div>
+<div class="title">/home/mary/python/ivapy/ivapy.egg-info/dependency_links.txt File Reference</div>  </div>
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diff --git a/docs/ivapy_2ivapy_8egg-info_2requires_8txt.html b/docs/ivapy_2ivapy_8egg-info_2requires_8txt.html
index 713700eb..fe0c88ce 100644
--- a/docs/ivapy_2ivapy_8egg-info_2requires_8txt.html
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@@ -5,7 +5,7 @@
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-<title>IVALab Python Libraries: /home/pvela/python/ivapy/ivapy.egg-info/requires.txt File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/ivapy/ivapy.egg-info/requires.txt File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -63,7 +63,7 @@
 </div><!-- top -->
 <div class="header">
   <div class="headertitle">
-<div class="title">/home/pvela/python/ivapy/ivapy.egg-info/requires.txt File Reference</div>  </div>
+<div class="title">/home/mary/python/ivapy/ivapy.egg-info/requires.txt File Reference</div>  </div>
 </div><!--header-->
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 </div><!-- contents -->
diff --git a/docs/ivapy_2ivapy_8egg-info_2top__level_8txt.html b/docs/ivapy_2ivapy_8egg-info_2top__level_8txt.html
index 272ccbb9..15dc8788 100644
--- a/docs/ivapy_2ivapy_8egg-info_2top__level_8txt.html
+++ b/docs/ivapy_2ivapy_8egg-info_2top__level_8txt.html
@@ -5,7 +5,7 @@
 <meta http-equiv="X-UA-Compatible" content="IE=9"/>
 <meta name="generator" content="Doxygen 1.8.17"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>IVALab Python Libraries: /home/pvela/python/ivapy/ivapy.egg-info/top_level.txt File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/ivapy/ivapy.egg-info/top_level.txt File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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@@ -63,7 +63,7 @@
 </div><!-- top -->
 <div class="header">
   <div class="headertitle">
-<div class="title">/home/pvela/python/ivapy/ivapy.egg-info/top_level.txt File Reference</div>  </div>
+<div class="title">/home/mary/python/ivapy/ivapy.egg-info/top_level.txt File Reference</div>  </div>
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 </div><!-- contents -->
diff --git a/docs/ivapy_2setup_8py.html b/docs/ivapy_2setup_8py.html
index e605310d..0433fa9e 100644
--- a/docs/ivapy_2setup_8py.html
+++ b/docs/ivapy_2setup_8py.html
@@ -5,7 +5,7 @@
 <meta http-equiv="X-UA-Compatible" content="IE=9"/>
 <meta name="generator" content="Doxygen 1.8.17"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>IVALab Python Libraries: /home/pvela/python/ivapy/setup.py File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/ivapy/setup.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/manager_8py.html b/docs/manager_8py.html
index 3176789d..f71c5bc4 100644
--- a/docs/manager_8py.html
+++ b/docs/manager_8py.html
@@ -5,7 +5,7 @@
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 <meta name="generator" content="Doxygen 1.8.17"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>IVALab Python Libraries: /home/pvela/python/puzzle_solver/puzzle/manager.py File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/puzzle_solver/puzzle/manager.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/mask_8py.html b/docs/mask_8py.html
index ad889a61..89060986 100644
--- a/docs/mask_8py.html
+++ b/docs/mask_8py.html
@@ -5,7 +5,7 @@
 <meta http-equiv="X-UA-Compatible" content="IE=9"/>
 <meta name="generator" content="Doxygen 1.8.17"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>IVALab Python Libraries: /home/pvela/python/improcessor/improcessor/mask.py File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/improcessor/improcessor/mask.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/matchDifferent_8py.html b/docs/matchDifferent_8py.html
index 88c42cf8..eca9c62c 100644
--- a/docs/matchDifferent_8py.html
+++ b/docs/matchDifferent_8py.html
@@ -5,7 +5,7 @@
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 <meta name="generator" content="Doxygen 1.8.17"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>IVALab Python Libraries: /home/pvela/python/puzzle_solver/puzzle/pieces/matchDifferent.py File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/puzzle_solver/puzzle/pieces/matchDifferent.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/matchSimilar_8py.html b/docs/matchSimilar_8py.html
index 21eaf7d3..3436773f 100644
--- a/docs/matchSimilar_8py.html
+++ b/docs/matchSimilar_8py.html
@@ -5,7 +5,7 @@
 <meta http-equiv="X-UA-Compatible" content="IE=9"/>
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 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>IVALab Python Libraries: /home/pvela/python/puzzle_solver/puzzle/pieces/matchSimilar.py File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/puzzle_solver/puzzle/pieces/matchSimilar.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/matcher_8py.html b/docs/matcher_8py.html
index 43daedc0..36e051cb 100644
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 <meta name="viewport" content="width=device-width, initial-scale=1"/>
-<title>IVALab Python Libraries: /home/pvela/python/puzzle_solver/puzzle/pieces/matcher.py File Reference</title>
+<title>IVALab Python Libraries: /home/mary/python/puzzle_solver/puzzle/pieces/matcher.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/md__home_mary_python_Surveillance_README.html b/docs/md__home_mary_python_Surveillance_README.html
index f96589af..1184ed3c 100644
--- a/docs/md__home_mary_python_Surveillance_README.html
+++ b/docs/md__home_mary_python_Surveillance_README.html
@@ -99,10 +99,11 @@
 </ul>
 </li>
 </ul>
-<h1><a class="anchor" id="autotoc_md42"></a>
+<h1><a class="anchor" id="autotoc_md46"></a>
 Install</h1>
 <p>To implement the entire system requires several custom packages, each contained in its own repository. They are listed below. To run the surveillance system requires installing the repositories from source:</p>
 <ul>
+<li><a href="https://github.com/ivapylibs/ivapy">ivapy</a></li>
 <li><a href="https://github.com/ivapylibs/Lie">Lie</a></li>
 <li><a href="https://github.com/ivapylibs/camera">camera</a></li>
 <li><a href="https://github.com/ivaROS/ROSWrapper">ROSWrapper</a></li>
@@ -110,20 +111,21 @@ <h1><a class="anchor" id="autotoc_md42"></a>
 <li><a href="https://github.com/ivapylibs/trackpointer">trackpointer</a></li>
 <li><a href="https://github.com/ivapylibs/detector">detector</a></li>
 <li><a href="https://github.com/ivapylibs/perceiver">perceiver</a></li>
-<li><a href="https://github.com/ADCLab/puzzleSolvers">puzzleSolvers</a></li>
+<li><a class="el" href="namespaceSurveillance.html">Surveillance</a> (this repo)</li>
 <li><a href="https://github.com/ivapylibs/puzzle_solver">puzzle_solver</a></li>
-</ul>
-<div class="fragment"><div class="line">git clone https://github.com/ivapylibs/Surveillance.git</div>
+<li><a href="https://github.com/ADCLab/puzzleSolvers">puzzleSolvers</a> <div class="fragment"><div class="line">git clone https://github.com/ivapylibs/Surveillance.git</div>
 <div class="line">pip3 install -e Surveillance/</div>
-</div><!-- fragment --><h1><a class="anchor" id="autotoc_md43"></a>
+</div><!-- fragment --></li>
+</ul>
+<h1><a class="anchor" id="autotoc_md47"></a>
 Usage</h1>
-<h2><a class="anchor" id="autotoc_md44"></a>
+<h2><a class="anchor" id="autotoc_md48"></a>
 Unit test</h2>
 <p>Unit test for the individual modules. For more details, refer to README.</p>
-<h2><a class="anchor" id="autotoc_md45"></a>
+<h2><a class="anchor" id="autotoc_md49"></a>
 System usage</h2>
 <p>We have integrated the designed system with ROS. For more details, refer to <a class="el" href="Surveillance_2Surveillance_2deployment_2ROS_2README_8md.html">README</a>.</p>
-<h1><a class="anchor" id="autotoc_md46"></a>
+<h1><a class="anchor" id="autotoc_md50"></a>
 TODOs:</h1>
 <p>04/22/2022 Meeting with the Dr. Adan Vela:</p>
 <ul>
diff --git a/docs/md__home_mary_python_Surveillance_Surveillance_deployment_ROS_README.html b/docs/md__home_mary_python_Surveillance_Surveillance_deployment_ROS_README.html
index dbfbb9af..37d3446a 100644
--- a/docs/md__home_mary_python_Surveillance_Surveillance_deployment_ROS_README.html
+++ b/docs/md__home_mary_python_Surveillance_Surveillance_deployment_ROS_README.html
@@ -67,18 +67,18 @@
 </div><!--header-->
 <div class="contents">
 <div class="textblock"><p>This folder contains the scripts for recording the necessary data (calibration + test) into a rosbag file and running the script on the pre-saved data.</p>
-<h1><a class="anchor" id="autotoc_md48"></a>
+<h1><a class="anchor" id="autotoc_md52"></a>
 Data</h1>
 <p>We have captured some testing data in the rosbag format. All the data is stored on the Dropbox. Please download the data from the <a href="https://www.dropbox.com/sh/6odjfrw522yko09/AAATSuZU7pl4vfzc-lVCro07a?dl=0">Dropbox link</a>, and put it in the <code>deployment/ROS/data</code>.</p>
-<h1><a class="anchor" id="autotoc_md49"></a>
+<h1><a class="anchor" id="autotoc_md53"></a>
 Usage</h1>
 <p>Before running any script, navigate to the <code>Surveillance/deployment/ROS</code> folder first:</p>
 <div class="fragment"><div class="line">cd path/to/clone/Surveillance</div>
 <div class="line">cd Surveillance/deployment/ROS</div>
-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md50"></a>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md54"></a>
 1. Record data</h2>
 <p>Record both the system calibration data and the test-time rgb and depth data.</p>
-<h3><a class="anchor" id="autotoc_md51"></a>
+<h3><a class="anchor" id="autotoc_md55"></a>
 1.1 First-time Calibration</h3>
 <p>For the first time using the system or want to re-calibrate the system, run:</p>
 <div class="fragment"><div class="line">python rosbag_data_recorder.py --save_dir ./</div>
@@ -87,23 +87,23 @@ <h3><a class="anchor" id="autotoc_md51"></a>
 <div class="fragment"><div class="line">rosbag compress data_{RECORDING_DATE_AND_TIME}.bag</div>
 <div class="line">rm data_{RECORDING_DATE_AND_TIME}.orig.bag</div>
 </div><!-- fragment --><p>If the purpose is to save the data as calibration data for future usage, it is better to change the prefix to <code>calib</code> instead of <code>data</code> to differentiate from recordings used for other purposes.</p>
-<h3><a class="anchor" id="autotoc_md52"></a>
+<h3><a class="anchor" id="autotoc_md56"></a>
 1.2 Record with the calibrated system</h3>
 <p>For using the pre-saved calibration data and only record the test-time data, toggle on the option and provide with the calibration data file name:</p>
 <div class="fragment"><div class="line">python rosbag_data_recorder.py --save_dir ./ --load_exist --rosbag_name path/to/folder/calib_{RECORDING_DATE_AND_TIME}.bag</div>
 </div><!-- fragment --><p>It will fetch the calibration data in the provided rosbag file, record new test-time data, and store them together in a new rosbag file. Then again compress the data following the previous steps.</p>
-<h3><a class="anchor" id="autotoc_md53"></a>
+<h3><a class="anchor" id="autotoc_md57"></a>
 1.3 Modify the parameters.</h3>
 <p>A set of parameters are specified in the <code>config/NAME.yaml</code> file. The rosbag data recorder requires two of them, including the <code>config/setup.yaml</code> and <code>config/ros.yaml</code>. The previous is for the system setup such as the camera parameters and the Aruco tag size, and the second specify the ros topic names.</p>
 <p>To change the parameters (e.g. The camera exposure and gain), the simple way is to modify the parameters in the yaml file. A better way for code development is to copy paste the desired file and pass them to the python script as the argument. Parameter files are seperated using comma (w/o space):</p>
 <div class="fragment"><div class="line">python rosbag_data_recorder.py --yfiles &quot;config/NAME1.yaml,config/NAME2.yaml,...&quot;</div>
-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md54"></a>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md58"></a>
 2. Run the surveillance system</h2>
 <p>To build up the surveillance system (with calibration data), please provide the rosbag file name and run the following script:</p>
 <div class="fragment"><div class="line">python rosbag_runner.py --rosbag_name path/to/folder/data_{RECORDING_DATE_AND_TIME}.bag</div>
 </div><!-- fragment --><p>By default, the test data is assumed from the same rosbag. To work on other sources, please enable the real_time option by <code>--real_time</code>.</p>
 <p>Different display options are provided, please input a decimal number or a binary number. Refer to the arguments in <code><a class="el" href="rosbag__runner_8py.html">Surveillance/deployment/ROS/rosbag_runner.py</a></code> for more detail.</p>
-<h2><a class="anchor" id="autotoc_md55"></a>
+<h2><a class="anchor" id="autotoc_md59"></a>
 3. Convert the recorded rosbag to the video file.</h2>
 <p>The script <code><a class="el" href="rosbag__to__avi_8py.html">rosbag_to_avi.py</a></code> script is for converting the color frame recorded in a rosbag data to the avi video file. The way to use it (should replace the <code>PATH/TO/ROSBAG.bag</code> to your actual rosbag path (e.g. <code>./data/record.bag</code>):</p>
 <div class="fragment"><div class="line">python rosbag_to_avi.py PATH/TO/ROSBAG/NAME.bag</div>
diff --git a/docs/md__home_mary_python_camera_README.html b/docs/md__home_mary_python_camera_README.html
index 9c72fe38..217acbf7 100644
--- a/docs/md__home_mary_python_camera_README.html
+++ b/docs/md__home_mary_python_camera_README.html
@@ -67,19 +67,19 @@
 </div><!--header-->
 <div class="contents">
 <div class="textblock"><p>Encaspulation of typical camera functionality.</p>
-<h1><a class="anchor" id="autotoc_md2"></a>
+<h1><a class="anchor" id="autotoc_md3"></a>
 Install</h1>
-<h2><a class="anchor" id="autotoc_md3"></a>
+<h2><a class="anchor" id="autotoc_md4"></a>
 Dependencies</h2>
 <p>Install the following dependencies from the source, where the installation guide is provided in their respective repository.</p>
 <ul>
 <li><a href="https://github.com/ivapylibs/improcessor">improcessor</a></li>
 </ul>
-<h2><a class="anchor" id="autotoc_md4"></a>
+<h2><a class="anchor" id="autotoc_md5"></a>
 Install</h2>
 <div class="fragment"><div class="line">git clone https://github.com/ivapylibs/camera.git</div>
 <div class="line">pip3 install -e camera[viz]</div>
-</div><!-- fragment --><h1><a class="anchor" id="autotoc_md5"></a>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md6"></a>
 Note:</h1>
 <ol type="1">
 <li><p class="startli"><code>python -m camera.d435.testing.tabletop_plane</code></p>
@@ -88,7 +88,7 @@ <h2><a class="anchor" id="autotoc_md4"></a>
 </ol>
 <div class="fragment"><div class="line">pip install -e .[viz]</div>
 </div><!-- fragment --><p>The test file visualize the extracted tabletop plane point cloud in the camera frame, which is a necessary step for the height estimation. You can skip that testing file and run <code>python -m camera.d435.testing.height</code> directly.</p>
-<h1><a class="anchor" id="autotoc_md6"></a>
+<h1><a class="anchor" id="autotoc_md7"></a>
 Ubuntu Python Environment Setup</h1>
 <p>Use the default python for your system. Here we go through an installation for Python 3.7.</p>
 <ol type="1">
diff --git a/docs/md__home_mary_python_camera_scripts_README.html b/docs/md__home_mary_python_camera_scripts_README.html
index b762b7ec..c850e91e 100644
--- a/docs/md__home_mary_python_camera_scripts_README.html
+++ b/docs/md__home_mary_python_camera_scripts_README.html
@@ -67,7 +67,7 @@
 </div><!--header-->
 <div class="contents">
 <div class="textblock"><p>Some temporary scripts that can potentially evolve into utility classes.</p>
-<h1><a class="anchor" id="autotoc_md8"></a>
+<h1><a class="anchor" id="autotoc_md9"></a>
 Function Description and Usage</h1>
 <p>​ <b>NOTE:</b> Currently we need to execute the following inside the script folder.</p>
 <ol type="1">
diff --git a/docs/md__home_mary_python_detector_README.html b/docs/md__home_mary_python_detector_README.html
index 716ba363..8e2c10b1 100644
--- a/docs/md__home_mary_python_detector_README.html
+++ b/docs/md__home_mary_python_detector_README.html
@@ -68,7 +68,7 @@
 <div class="contents">
 <div class="textblock"><p>Collection of detection methods encapsulated as detector classes. At the moment, it is mostly code translated over from IVALab Matlab libraries.</p>
 <p>Some of the detection methods are built on basic image processing functions for which there should be OpenCV implementations. In that case, the OpenCV functionality is encapsulated by classes here that create a more generic interface. In some cases, the code will be rewritten for ease of translating the Matlab code. How the translation functions really depends on what the needs are and how well python replicates them.</p>
-<h1><a class="anchor" id="autotoc_md13"></a>
+<h1><a class="anchor" id="autotoc_md14"></a>
 Install</h1>
 <p>Install the following repositories from the source:</p>
 <ul>
@@ -77,10 +77,10 @@ <h1><a class="anchor" id="autotoc_md13"></a>
 <div class="fragment"><div class="line">git clone git@github.com:ivapylibs/detector.git</div>
 <div class="line">pip3 install -e detector/</div>
 </div><!-- fragment --><p>The test files are shell command line executable and should work when invoked, presuming that pip installation has been performed. If no modifications to the source code will be performed then the <code>-e</code> flag is not necessary (e.g., use the flag if the underlying code will be modified).</p>
-<h1><a class="anchor" id="autotoc_md14"></a>
+<h1><a class="anchor" id="autotoc_md15"></a>
 Run the unit tests</h1>
 <p>Please first download the presaved data into the <code>REPO_ROOT/testing/data</code> from the Dropbox <a href="https://www.dropbox.com/sh/l5o65khrzt4amrp/AAD9f-VshrQ8s7XNAWTUSz__a?dl=0">link</a></p>
-<h1><a class="anchor" id="autotoc_md15"></a>
+<h1><a class="anchor" id="autotoc_md16"></a>
 Dependencies</h1>
 <p>Requires the installation of the following python packages:</p>
 <ul>
diff --git a/docs/md__home_mary_python_improcessor_README.html b/docs/md__home_mary_python_improcessor_README.html
index 784243bb..2833aefa 100644
--- a/docs/md__home_mary_python_improcessor_README.html
+++ b/docs/md__home_mary_python_improcessor_README.html
@@ -67,12 +67,12 @@
 </div><!--header-->
 <div class="contents">
 <div class="textblock"><p>Abstracted interface for image processing pipeline; when basic image manipulation needed before actual processing.</p>
-<h1><a class="anchor" id="autotoc_md10"></a>
+<h1><a class="anchor" id="autotoc_md11"></a>
 Install</h1>
 <div class="fragment"><div class="line">git clone git@github.com:ivapylibs/improcessor.git</div>
 <div class="line">pip3 install -e improcessor/</div>
 </div><!-- fragment --><p>The test files are shell command line executable and should work when invoked, presuming that pip installation has been performed. If no modifications to the source code will be performed then the <code>-e</code> flag is not necessary (e.g., use the flag if the underlying code will be modified).</p>
-<h1><a class="anchor" id="autotoc_md11"></a>
+<h1><a class="anchor" id="autotoc_md12"></a>
 Dependencies</h1>
 <p>Requires the installation of the following python packages:</p>
 <ul>
diff --git a/docs/md__home_mary_python_perceiver_README.html b/docs/md__home_mary_python_perceiver_README.html
index c08afddd..0e3b6d2f 100644
--- a/docs/md__home_mary_python_perceiver_README.html
+++ b/docs/md__home_mary_python_perceiver_README.html
@@ -67,7 +67,7 @@
 </div><!--header-->
 <div class="contents">
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-<dl class="section date"><dt>Date</dt><dd>2021/10/07 [created, Surveillance repository] </dd>
+<dl class="section date"><dt>Date</dt><dd>2021/10/07 [created, <a class="el" href="namespaceSurveillance.html">Surveillance</a> repository] </dd>
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+});
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+<li class="navelem"><a class="el" href="namespaceivapy.html">ivapy</a></li><li class="navelem"><a class="el" href="namespaceivapy_1_1helper.html">helper</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">ivapy.helper Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a3f8a2151cc8ea143b2e5a86839cf6869"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceivapy_1_1helper.html#a3f8a2151cc8ea143b2e5a86839cf6869">strtobool</a> (val)</td></tr>
+<tr class="separator:a3f8a2151cc8ea143b2e5a86839cf6869"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a3f8a2151cc8ea143b2e5a86839cf6869"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f8a2151cc8ea143b2e5a86839cf6869">&#9670;&nbsp;</a></span>strtobool()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def ivapy.helper.strtobool </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Convert a string representation of truth to true (1) or false (0).
+True values are 'y', 'yes', 't', 'true', 'on', and '1'; false values
+are 'n', 'no', 'f', 'false', 'off', and '0'.  Raises ValueError if
+'val' is anything else.
+</pre> 
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
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+</body>
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 <h3><a id="index_a"></a>- a -</h3><ul>
+<li>ACT_CODEBOOK
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1activity__record.html#acfd4b8d50483eef27cb5eeee180e5aa4">Surveillance.deployment.activity_record</a>
+</li>
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+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a8187411843a6284ffb964ef3fb9fcab3">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#a28eaecb63bba79eae4f45a526af2c2b6">Surveillance.deployment.ROS.rosbag_replay</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a28eaecb63bba79eae4f45a526af2c2b6">Surveillance.deployment.ROS.rosbag_runner</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">Surveillance.deployment.ROS.rosbag_to_avi</a>
+</li>
+<li>assert_directory()
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1utils.html#a6a186477e73e447102705458674afd76">Surveillance.utils.utils</a>
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+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a91cf416c947b10c19071657221dc83d5">Surveillance.deployment.ROS.rosbag_runner</a>
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 </li>
+<li>bag_path
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a098b3e2b76b290dc086dbf368e3f4be5">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+</li>
+<li>baseSurveillance
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html#a8bd610c078f94eeebf8e3e23fcdb559c">Surveillance.deployment.Base</a>
+</li>
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 </li>
+<li>BGPARMAS
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a63d31866b1bfc6204aaac56b432e5f6f">Surveillance.deployment.default_params</a>
+</li>
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 </li>
+<li>blit
+: <a class="el" href="namespaceSurveillance_1_1activity_1_1utils.html#af7d6946511cca2c663a2474b8cb473dd">Surveillance.activity.utils</a>
+</li>
+<li>bm
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a27771afa9ae0a4bd477c9a5f2e8f5b7e">Surveillance.utils.imgs</a>
+</li>
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 <h3><a id="index_c"></a>- c -</h3><ul>
+<li>calc_closest_factors()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a3e701182e90594cf4eee1e4ff70cc8d0">Surveillance.deployment.utils</a>
+</li>
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+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ae38f754ee124747e5a6691e1ae03e1b2">Surveillance.deployment.ROS.rosbag_runner</a>
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+<li>cfg
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a9bda50c2ecb07d8a4e9f694c60e1120f">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+</li>
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 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#abfeedff777690abae6390f2a7363533c">camera.utils.display</a>
 </li>
+<li>command
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a4c9ef422180cc13bda2c623c7b9d43e5">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a9e0992eae3950adccaf4847fbff4231d">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
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 <li>config
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 </li>
+<li>configs
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html#a3a4acb4d58f4ad4702285291a94a58c6">Surveillance.deployment.Base</a>
+</li>
 <li>configs_puzzleSolver
 : <a class="el" href="namespacepuzzle_1_1runner.html#a2775c0e672f9bfc7753972393d23a74d">puzzle.runner</a>
 </li>
+<li>contour_map
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#ab4de579efd40f493f524da0d154ef947">Surveillance.utils.imgs</a>
+</li>
+<li>contour_map_2
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a5b4f18832e4e04fe6b9048797c1bff66">Surveillance.utils.imgs</a>
+</li>
 <li>convert_dict2ROS()
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 <h3><a id="index_d"></a>- d -</h3><ul>
+<li>d
+: <a class="el" href="namespaceSurveillance_1_1activity_1_1utils.html#a1aabac6d068eef6a7bad3fdf50a05cc8">Surveillance.activity.utils</a>
+</li>
 <li>d435_configs
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 </li>
+<li>decimalToBinary()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a70539f353d560cfc7522a6bf301e2596">Surveillance.deployment.utils</a>
+</li>
 <li>default
 : <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#affb1327b18bf08a379d19eef89cf1ed1">scripts.d435_record_rosbag_dev</a>
 , <a class="el" href="namespacescripts_1_1vid__compress__bag.html#affb1327b18bf08a379d19eef89cf1ed1">scripts.vid_compress_bag</a>
@@ -83,6 +89,12 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 : <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a479a7e702fb1121fdebf491fe7c2eee5">scripts.d435_record_rosbag_dev</a>
 , <a class="el" href="namespacescripts_1_1vid__playback.html#a479a7e702fb1121fdebf491fe7c2eee5">scripts.vid_playback</a>
 </li>
+<li>defaultBuildCfg()
+: <a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html#a7eee1bb683b87840d3f08d0d9862bd9b">Surveillance.layers.BlackWorkMat</a>
+</li>
+<li>defaultBuildCfg_DetectorLoad()
+: <a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html#a1e2e6c1b636fa324e02e78f91acaac1f">Surveillance.layers.BlackWorkMat</a>
+</li>
 <li>dep
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#aa309581da47912d13c5672e63c854439">camera.utils.display</a>
 , <a class="el" href="namespacescripts_1_1d435__record.html#aa309581da47912d13c5672e63c854439">scripts.d435_record</a>
@@ -104,18 +116,31 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 : <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#abbf2a98f2bfcb7d9679e49ae8667f615">scripts.d435_record_rosbag_dev</a>
 , <a class="el" href="namespacescripts_1_1vid__playback.html#abbf2a98f2bfcb7d9679e49ae8667f615">scripts.vid_playback</a>
 </li>
+<li>depth_scaled()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#afc9968a3f8384181cedad1bab81c33d6">Surveillance.deployment.utils</a>
+</li>
+<li>depth_to_before_scale()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a552fca8cd73d99ee69cdbc66a51b6668">Surveillance.deployment.utils</a>
+, <a class="el" href="namespaceSurveillance_1_1layers_1_1scene.html#a4011aa257f29f70823186ef39b47c444">Surveillance.layers.scene</a>
+</li>
 <li>description
 : <a class="el" href="namespacesetup.html#a2661f439a4a94ffdcd5e47ae1da0bb1d">setup</a>
 </li>
 <li>dict_id_2d
 : <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aded81a3c6732dc56fd0cf4b6c286b83e">puzzle.utils.dataProcessing</a>
 </li>
+<li>display
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4f0dca78b998ba41b1799a11f1287c87">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>display_dep()
 : <a class="el" href="group__Display__CV.html#ga8966a052e6c0d1b9f269506bd07b8b19">ivapy.display_cv</a>
 </li>
 <li>display_dep_cv()
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#a7a886df7a8e82165d26adbfbbb865475">camera.utils.display</a>
 </li>
+<li>display_option_convert()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a641191061a8f89e350e17520f80af81c">Surveillance.deployment.utils</a>
+</li>
 <li>display_rgb_dep()
 : <a class="el" href="group__Display__CV.html#ga1c17a4bbbdd6b5785d52664557310b2f">ivapy.display_cv</a>
 </li>
@@ -131,6 +156,18 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>distance_point_line_squared()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0efae7d4ab4464b04cde77c964fe9eea">puzzle.utils.sideExtractor</a>
 </li>
+<li>doNothing_func
+: <a class="el" href="namespaceSurveillance_1_1layers_1_1base.html#a60a9b7ddf2d0ed75fa0e91362c5c6716">Surveillance.layers.base</a>
+</li>
+<li>dot_coords
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a6f08e8858cca0ac965b32519400179b3">Surveillance.utils.imgs</a>
+</li>
+<li>draw_contour()
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acb0a799ba7208c422470a8c080fbb15d">Surveillance.utils.imgs</a>
+</li>
+<li>draw_dots()
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#aa858e132ded6ece6e91a6861bf09ffa5">Surveillance.utils.imgs</a>
+</li>
 <li>draw_lines()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a72aa7368a5925f2948af7b1b1d438c39">puzzle.utils.sideExtractor</a>
 </li>
diff --git a/docs/namespacemembers_f.html b/docs/namespacemembers_f.html
index c7d07c59..71536a72 100644
--- a/docs/namespacemembers_f.html
+++ b/docs/namespacemembers_f.html
@@ -65,9 +65,16 @@
 <div class="textblock">Here is a list of all namespace members with links to the namespace documentation for each member:</div>
 
 <h3><a id="index_f"></a>- f -</h3><ul>
+<li>fDir
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html#a4ed1a371b1370bdc701af21123b7c07b">Surveillance.deployment.Base</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#aad9575350ee1998a136d232dbb870450">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+</li>
 <li>find_nonzero_mask()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a4226003f3aa87494cc657c6039c628d4">puzzle.utils.imageProcessing</a>
 </li>
+<li>force_restart
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ac389d2a7c41bdb1f7da93bb1e86ff1a5">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>fourcc
 : <a class="el" href="namespacescripts_1_1vid__compress.html#a30adae2bb65e244ffdea3d32022b88b8">scripts.vid_compress</a>
 </li>
diff --git a/docs/namespacemembers_func.html b/docs/namespacemembers_func.html
index c011e576..ffa0a711 100644
--- a/docs/namespacemembers_func.html
+++ b/docs/namespacemembers_func.html
@@ -79,6 +79,9 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 <li>apply()
 : <a class="el" href="namespaceimprocessor_1_1basic.html#ac22ecc74cb6258b9e397c327df22e3a0">improcessor.basic</a>
 </li>
+<li>assert_directory()
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1utils.html#a6a186477e73e447102705458674afd76">Surveillance.utils.utils</a>
+</li>
 </ul>
 
 
@@ -108,6 +111,9 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 
 
 <h3><a id="index_c"></a>- c -</h3><ul>
+<li>calc_closest_factors()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a3e701182e90594cf4eee1e4ff70cc8d0">Surveillance.deployment.utils</a>
+</li>
 <li>calculateMatches()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a254c50137b6f842f52818db48523b8f8">puzzle.utils.dataProcessing</a>
 </li>
@@ -181,18 +187,37 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 
 
 <h3><a id="index_d"></a>- d -</h3><ul>
+<li>decimalToBinary()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a70539f353d560cfc7522a6bf301e2596">Surveillance.deployment.utils</a>
+</li>
+<li>defaultBuildCfg()
+: <a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html#a7eee1bb683b87840d3f08d0d9862bd9b">Surveillance.layers.BlackWorkMat</a>
+</li>
+<li>defaultBuildCfg_DetectorLoad()
+: <a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html#a1e2e6c1b636fa324e02e78f91acaac1f">Surveillance.layers.BlackWorkMat</a>
+</li>
 <li>depth()
 : <a class="el" href="group__Display__CV.html#ga5f32097dd6970628fb251585d9ad3dcc">ivapy.display_cv</a>
 </li>
 <li>depth_cv()
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#aa5454a0c20f348c7b91be657f4acca5a">camera.utils.display</a>
 </li>
+<li>depth_scaled()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#afc9968a3f8384181cedad1bab81c33d6">Surveillance.deployment.utils</a>
+</li>
+<li>depth_to_before_scale()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a552fca8cd73d99ee69cdbc66a51b6668">Surveillance.deployment.utils</a>
+, <a class="el" href="namespaceSurveillance_1_1layers_1_1scene.html#a4011aa257f29f70823186ef39b47c444">Surveillance.layers.scene</a>
+</li>
 <li>display_dep()
 : <a class="el" href="group__Display__CV.html#ga8966a052e6c0d1b9f269506bd07b8b19">ivapy.display_cv</a>
 </li>
 <li>display_dep_cv()
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#a7a886df7a8e82165d26adbfbbb865475">camera.utils.display</a>
 </li>
+<li>display_option_convert()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a641191061a8f89e350e17520f80af81c">Surveillance.deployment.utils</a>
+</li>
 <li>display_rgb_dep()
 : <a class="el" href="group__Display__CV.html#ga1c17a4bbbdd6b5785d52664557310b2f">ivapy.display_cv</a>
 </li>
@@ -208,6 +233,12 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>distance_point_line_squared()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0efae7d4ab4464b04cde77c964fe9eea">puzzle.utils.sideExtractor</a>
 </li>
+<li>draw_contour()
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acb0a799ba7208c422470a8c080fbb15d">Surveillance.utils.imgs</a>
+</li>
+<li>draw_dots()
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#aa858e132ded6ece6e91a6861bf09ffa5">Surveillance.utils.imgs</a>
+</li>
 <li>draw_lines()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a72aa7368a5925f2948af7b1b1d438c39">puzzle.utils.sideExtractor</a>
 </li>
@@ -232,6 +263,12 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>get()
 : <a class="el" href="namespaceimprocessor_1_1basic.html#a1b0a035fac769d2343afd2d372b27b3a">improcessor.basic</a>
 </li>
+<li>get_args()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a6a263db19510916490e528e56eb08ee7">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ae44248362ba50db844223986ec83ac25">Surveillance.deployment.ROS.rosbag_replay</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a595c24f79cb24129ea70535a14ea78fd">Surveillance.deployment.ROS.rosbag_runner</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">Surveillance.deployment.ROS.rosbag_to_avi</a>
+</li>
 <li>get_best_fitting_rect_coords()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a348352837eeedcb27f195eed638f6bce">puzzle.utils.sideExtractor</a>
 </li>
@@ -275,6 +312,9 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 <li>images_cv()
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#a25cc370fe5e56081f748cd21f574fd2c">camera.utils.display</a>
 </li>
+<li>isBinary()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a5161058f877b5d8268948cf2c33610fb">Surveillance.deployment.utils</a>
+</li>
 </ul>
 
 
@@ -293,6 +333,10 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 
 
 <h3><a id="index_m"></a>- m -</h3><ul>
+<li>main()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ab8cdf5817ce48453794710fd19e3cc76">Surveillance.deployment.ROS.rosbag_replay</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#ac4c0b53f23d40ff99d05e838e15af5d6">Surveillance.deployment.ROS.rosbag_to_avi</a>
+</li>
 <li>markers_rgb()
 : <a class="el" href="group__Display__CV.html#ga451cae703d467aed26b10d2fa860e800">ivapy.display_cv</a>
 </li>
@@ -305,6 +349,13 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 </ul>
 
 
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>NONROI_FUN()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a7cc84244235fda459bb76c5ae7edc192">Surveillance.deployment.utils</a>
+</li>
+</ul>
+
+
 <h3><a id="index_o"></a>- o -</h3><ul>
 <li>order_corners()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#abbaf5d39b5bf185147639105218e13ef">puzzle.utils.sideExtractor</a>
@@ -313,6 +364,9 @@ <h3><a id="index_o"></a>- o -</h3><ul>
 
 
 <h3><a id="index_p"></a>- p -</h3><ul>
+<li>parse_vid_path()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">Surveillance.deployment.ROS.rosbag_to_avi</a>
+</li>
 <li>partition_even()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a5d1fa9dc52af3b5a85881b4f3748a52f">puzzle.utils.dataProcessing</a>
 </li>
@@ -328,8 +382,14 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>pre()
 : <a class="el" href="namespaceimprocessor_1_1basic.html#a5050371086024099b313fb2e000c1e5c">improcessor.basic</a>
 </li>
+<li>PREPROCESS_DEPTH()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a4aedbd1142270a12b2d719e0d05f8240">Surveillance.deployment.utils</a>
+</li>
 <li>preprocess_real_puzzle()
-: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a603976dfb5aa44fd5bda3af588880498">puzzle.utils.imageProcessing</a>
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a812d390a0d2124264ad51b0b0dfb54b1">puzzle.utils.imageProcessing</a>
+</li>
+<li>PREPROCESS_RGB()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a61709d75601089a00afe3187785ea6e5">Surveillance.deployment.utils</a>
 </li>
 <li>preprocess_synthetic_puzzle()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a9564a000752268a38828146005b80283">puzzle.utils.imageProcessing</a>
@@ -341,6 +401,9 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 
 
 <h3><a id="index_r"></a>- r -</h3><ul>
+<li>resave_to_folder()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ac36673b9485bfa1e5b330c3e4879191b">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>rgb()
 : <a class="el" href="group__Display__CV.html#gaa3326c793b2a917ff7e29266576a6503">ivapy.display_cv</a>
 </li>
@@ -368,6 +431,9 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 <li>rotate_im()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a350b60c8d8dd4ab76e00479c86c0a539">puzzle.utils.imageProcessing</a>
 </li>
+<li>rotate_nd()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a6c7390f02b518ca95305922ce094b596">puzzle.utils.imageProcessing</a>
+</li>
 <li>rs_extrin_to_M()
 : <a class="el" href="namespacecamera_1_1utils_1_1rs__utils.html#af427ba37c0002b9852a39b44e0dae889">camera.utils.rs_utils</a>
 </li>
@@ -399,10 +465,16 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>squareInImage()
 : <a class="el" href="group__ivapy__testing.html#ga71460e9e11b6965da8d61f775b75bee6">vision</a>
 </li>
+<li>strtobool()
+: <a class="el" href="namespaceivapy_1_1helper.html#a3f8a2151cc8ea143b2e5a86839cf6869">ivapy.helper</a>
+</li>
 </ul>
 
 
 <h3><a id="index_t"></a>- t -</h3><ul>
+<li>terminate_process_and_children()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a8f7450eba4afc02e018b58553d9dc863">Surveillance.deployment.utils</a>
+</li>
 <li>tipFromBottom()
 : <a class="el" href="namespacetrackpointer_1_1toplines.html#ab1462a82f4f393fe7a48e350708104fe">trackpointer.toplines</a>
 </li>
diff --git a/docs/namespacemembers_g.html b/docs/namespacemembers_g.html
index c2b4e0b0..a9ec66a4 100644
--- a/docs/namespacemembers_g.html
+++ b/docs/namespacemembers_g.html
@@ -68,6 +68,12 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 <li>get()
 : <a class="el" href="namespaceimprocessor_1_1basic.html#a1b0a035fac769d2343afd2d372b27b3a">improcessor.basic</a>
 </li>
+<li>get_args()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a6a263db19510916490e528e56eb08ee7">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ae44248362ba50db844223986ec83ac25">Surveillance.deployment.ROS.rosbag_replay</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a595c24f79cb24129ea70535a14ea78fd">Surveillance.deployment.ROS.rosbag_runner</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">Surveillance.deployment.ROS.rosbag_to_avi</a>
+</li>
 <li>get_best_fitting_rect_coords()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a348352837eeedcb27f195eed638f6bce">puzzle.utils.sideExtractor</a>
 </li>
diff --git a/docs/namespacemembers_h.html b/docs/namespacemembers_h.html
index 1394d035..8d0a12a3 100644
--- a/docs/namespacemembers_h.html
+++ b/docs/namespacemembers_h.html
@@ -77,6 +77,12 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 , <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a81ae9faedaa69e3e28e2960a0548df8d">scripts.vid_compress_bag</a>
 , <a class="el" href="namespacescripts_1_1vid__playback.html#a81ae9faedaa69e3e28e2960a0548df8d">scripts.vid_playback</a>
 </li>
+<li>HPARAMS
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#af491a781910dcde032bc4b44634083e3">Surveillance.deployment.default_params</a>
+</li>
+<li>HTRACKER
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a065b6f148a7048203a603b059e3be42d">Surveillance.deployment.default_params</a>
+</li>
 <li>hTracker_BEV
 : <a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">puzzle.runner</a>
 </li>
diff --git a/docs/namespacemembers_i.html b/docs/namespacemembers_i.html
index 388976cf..3ed694a8 100644
--- a/docs/namespacemembers_i.html
+++ b/docs/namespacemembers_i.html
@@ -74,9 +74,18 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 <li>images_cv()
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#a25cc370fe5e56081f748cd21f574fd2c">camera.utils.display</a>
 </li>
+<li>img
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a86d0d51ceb4bc3bd26707520f257a5a4">Surveillance.utils.imgs</a>
+</li>
+<li>img_dots
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a8d1219cde4ee2788b3d53f82f06d3d66">Surveillance.utils.imgs</a>
+</li>
 <li>imgSource
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#a88d9bfa38569e9270e71f758f93e7d48">camera.utils.display</a>
 </li>
+<li>info_dict
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4f88be06550a90b3851570a4f5d4d556">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>install_requires
 : <a class="el" href="namespacesetup.html#a047d4e9f7b152e767f7bd459218fe1fd">setup</a>
 </li>
@@ -86,6 +95,9 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 <li>int
 : <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a61569f2965b7a369eb10b6d75d410d11">scripts.vid_compress_bag</a>
 </li>
+<li>isBinary()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a5161058f877b5d8268948cf2c33610fb">Surveillance.deployment.utils</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/namespacemembers_k.html b/docs/namespacemembers_k.html
index 67643512..d204d640 100644
--- a/docs/namespacemembers_k.html
+++ b/docs/namespacemembers_k.html
@@ -65,6 +65,9 @@
 <div class="textblock">Here is a list of all namespace members with links to the namespace documentation for each member:</div>
 
 <h3><a id="index_k"></a>- k -</h3><ul>
+<li>kernel
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a2ff12ba84b360bbe1553c9070a5aa517">Surveillance.deployment.default_params</a>
+</li>
 <li>kmeans_id_2d()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a425965f6d0e54bad8b2e8e59b5339a4d">puzzle.utils.dataProcessing</a>
 </li>
diff --git a/docs/namespacemembers_l.html b/docs/namespacemembers_l.html
index c30d5b2a..76c081c0 100644
--- a/docs/namespacemembers_l.html
+++ b/docs/namespacemembers_l.html
@@ -68,6 +68,9 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 <li>line_intersection()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a1b63710387e2e9e67878305868979a76">puzzle.utils.sideExtractor</a>
 </li>
+<li>listener
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a6e027ffa043575312851d123228ae8eb">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>load_file_path
 : <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a4019905696a32e54e9dacab0c119f38c">scripts.vid_compress_bag</a>
 </li>
@@ -80,6 +83,9 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 <li>loc_pulse_topic
 : <a class="el" href="namespacepuzzle_1_1runnerROS.html#a3f919e7c725ff6490f5482de36973b09">puzzle.runnerROS</a>
 </li>
+<li>lock
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#af1b662fe6ae53fbcd5a505235805d788">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>logger
 : <a class="el" href="namespacedetector_1_1Configuration.html#a0b14e488ae28d98d262453f3e9cd6e4d">detector.Configuration</a>
 , <a class="el" href="namespaceivapy_1_1Configuration.html#a0b14e488ae28d98d262453f3e9cd6e4d">ivapy.Configuration</a>
diff --git a/docs/namespacemembers_m.html b/docs/namespacemembers_m.html
index 1a206b47..683aee45 100644
--- a/docs/namespacemembers_m.html
+++ b/docs/namespacemembers_m.html
@@ -65,9 +65,19 @@
 <div class="textblock">Here is a list of all namespace members with links to the namespace documentation for each member:</div>
 
 <h3><a id="index_m"></a>- m -</h3><ul>
+<li>M_WtoR
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1transform__mats.html#a9a2fcd10c842b7ea4f70454960db6a3a">Surveillance.utils.transform_mats</a>
+</li>
+<li>main()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ab8cdf5817ce48453794710fd19e3cc76">Surveillance.deployment.ROS.rosbag_replay</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#ac4c0b53f23d40ff99d05e838e15af5d6">Surveillance.deployment.ROS.rosbag_to_avi</a>
+</li>
 <li>markers_rgb()
 : <a class="el" href="group__Display__CV.html#ga451cae703d467aed26b10d2fa860e800">ivapy.display_cv</a>
 </li>
+<li>mask_proc_puzzle_seg
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a1ab2aa51aab5c1699a0158092e2486f8">Surveillance.deployment.default_params</a>
+</li>
 <li>measure()
 : <a class="el" href="namespacebyMotion.html#ae24ddf4fbca3ccdedebff2a34ed938c6">byMotion</a>
 </li>
diff --git a/docs/namespacemembers_n.html b/docs/namespacemembers_n.html
index a413fa34..7007fbeb 100644
--- a/docs/namespacemembers_n.html
+++ b/docs/namespacemembers_n.html
@@ -74,6 +74,9 @@ <h3><a id="index_n"></a>- n -</h3><ul>
 <li>None
 : <a class="el" href="namespacescripts_1_1vid__compress__bag.html#ac7485dcc8d256a6f197ed7802687f252">scripts.vid_compress_bag</a>
 </li>
+<li>NONROI_FUN()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a7cc84244235fda459bb76c5ae7edc192">Surveillance.deployment.utils</a>
+</li>
 <li>npy_file_list
 : <a class="el" href="namespacepuzzle_1_1runner.html#acbe5fb8b5aa9022008b27cee1fe4aa90">puzzle.runner</a>
 </li>
diff --git a/docs/namespacemembers_p.html b/docs/namespacemembers_p.html
index f548f7d9..87b96ff9 100644
--- a/docs/namespacemembers_p.html
+++ b/docs/namespacemembers_p.html
@@ -68,6 +68,9 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>packages
 : <a class="el" href="namespacesetup.html#a5191bfd75a28371588f75471591d5500">setup</a>
 </li>
+<li>parse_vid_path()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">Surveillance.deployment.ROS.rosbag_to_avi</a>
+</li>
 <li>parser
 : <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a90eee7a4677ca8b1ed116364a24367f9">scripts.d435_record_rosbag_dev</a>
 , <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a90eee7a4677ca8b1ed116364a24367f9">scripts.vid_compress_bag</a>
@@ -76,6 +79,9 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>partition_even()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a5d1fa9dc52af3b5a85881b4f3748a52f">puzzle.utils.dataProcessing</a>
 </li>
+<li>pick_model
+: <a class="el" href="namespaceSurveillance_1_1activity_1_1FSM.html#a6aadd6db4d43309181e179136b2148ab">Surveillance.activity.FSM</a>
+</li>
 <li>plan
 : <a class="el" href="namespacepuzzle_1_1runner.html#ae1e167b26485ee9a975bf4fb78bc469c">puzzle.runner</a>
 </li>
@@ -91,26 +97,45 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <li>postImg
 : <a class="el" href="namespacepuzzle_1_1runner.html#ad2352536c7ea489734a52c27723d8871">puzzle.runner</a>
 </li>
+<li>PPARAMS
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#adda7eae0fc1a425e6e2c02f56bdbdb7f">Surveillance.deployment.default_params</a>
+</li>
 <li>pre()
 : <a class="el" href="namespaceimprocessor_1_1basic.html#a5050371086024099b313fb2e000c1e5c">improcessor.basic</a>
 </li>
+<li>PREPROCESS_DEPTH()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a4aedbd1142270a12b2d719e0d05f8240">Surveillance.deployment.utils</a>
+</li>
 <li>preprocess_real_puzzle()
-: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a603976dfb5aa44fd5bda3af588880498">puzzle.utils.imageProcessing</a>
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a812d390a0d2124264ad51b0b0dfb54b1">puzzle.utils.imageProcessing</a>
+</li>
+<li>PREPROCESS_RGB()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a61709d75601089a00afe3187785ea6e5">Surveillance.deployment.utils</a>
 </li>
 <li>preprocess_synthetic_puzzle()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a9564a000752268a38828146005b80283">puzzle.utils.imageProcessing</a>
 </li>
+<li>process_det_mask
+: <a class="el" href="namespaceSurveillance_1_1layers_1_1human__seg.html#a12b7384fe091361b9e4d62c4521148ea">Surveillance.layers.human_seg</a>
+</li>
 <li>processor
 : <a class="el" href="namespacebyMotion.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">byMotion</a>
 </li>
 <li>prune_lines_by_voting()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ac410e17f31d4fce91e19436682f13aa2">puzzle.utils.sideExtractor</a>
 </li>
+<li>PTRACKER
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a3585e00a01b986a8505a81ad25dd05d1">Surveillance.deployment.default_params</a>
+</li>
+<li>puzzle_solver
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a6cd45efb22043ced690e818f515f1a7d">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>puzzle_solver_info_topic
 : <a class="el" href="namespacepuzzle_1_1runnerROS.html#af4316bc54774d5fdf0d23e2b1cd02f28">puzzle.runnerROS</a>
 </li>
 <li>puzzle_solver_mode
 : <a class="el" href="namespacepuzzle_1_1runner.html#ad55d6aa3b1e1bebdd8331f117c8b1f85">puzzle.runner</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4d3ddc8d166cd01ec2e141d960dc9397">Surveillance.deployment.ROS.rosbag_runner</a>
 </li>
 <li>puzzle_solver_SolBoard
 : <a class="el" href="namespacepuzzle_1_1runner.html#aef9247963b338f3536c923017ee83d36">puzzle.runner</a>
diff --git a/docs/namespacemembers_r.html b/docs/namespacemembers_r.html
index 8f8f89db..316d1cab 100644
--- a/docs/namespacemembers_r.html
+++ b/docs/namespacemembers_r.html
@@ -71,9 +71,15 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 , <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a33e97a0953b4f4a9f1b61cd9556e2350">scripts.d435_record_rosbag_dev</a>
 , <a class="el" href="namespacescripts_1_1vid__playback.html#a33e97a0953b4f4a9f1b61cd9556e2350">scripts.vid_playback</a>
 </li>
+<li>read_activity
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#aeaa069f28268f0faade3acdab2b520cd">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>recorder
 : <a class="el" href="namespacescripts_1_1d435__record__rosbag__user.html#ad775930548a691778ac8e7fe03c3e2d1">scripts.d435_record_rosbag_user</a>
 </li>
+<li>resave_to_folder()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ac36673b9485bfa1e5b330c3e4879191b">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>ret
 : <a class="el" href="namespacescripts_1_1vid__compress.html#af1ec77bdca1b30e8153fc5da88f603db">scripts.vid_compress</a>
 </li>
@@ -102,12 +108,34 @@ <h3><a id="index_r"></a>- r -</h3><ul>
 <li>rgbd_wait_for_confirm()
 : <a class="el" href="group__Display__CV.html#ga02e26b2fc7e1a849c698aa97f1ba33cd">ivapy.display_cv</a>
 </li>
+<li>ROBPARAMS
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a154064f2dfbf7076428872bc3670f28c">Surveillance.deployment.default_params</a>
+</li>
+<li>rosbag_file
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ade4c4b1a66f0f51dec2ec9bfa5af748a">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>rosbag_name
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a1d401f526bfe10afee540d2a4c32101b">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>rosbag_path
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a98d9bff4e9bedeb77abd42834320502c">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+</li>
+<li>rosbag_proc
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a5f41af2452de32b9ffeea69e6f2397b7">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+</li>
+<li>roscore_proc
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a6050e334344d301b985665eb2622b0c5">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a6050e334344d301b985665eb2622b0c5">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>rotate()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a169b27e309e92094b1d5249ff53acfd9">puzzle.utils.sideExtractor</a>
 </li>
 <li>rotate_im()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a350b60c8d8dd4ab76e00479c86c0a539">puzzle.utils.imageProcessing</a>
 </li>
+<li>rotate_nd()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a6c7390f02b518ca95305922ce094b596">puzzle.utils.imageProcessing</a>
+</li>
 <li>rs_extrin_to_M()
 : <a class="el" href="namespacecamera_1_1utils_1_1rs__utils.html#af427ba37c0002b9852a39b44e0dae889">camera.utils.rs_utils</a>
 </li>
diff --git a/docs/namespacemembers_s.html b/docs/namespacemembers_s.html
index d99deb8f..8a4089f3 100644
--- a/docs/namespacemembers_s.html
+++ b/docs/namespacemembers_s.html
@@ -68,6 +68,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>save()
 : <a class="el" href="namespacebyMotion.html#a476801b57e5bd8ab0885a394470ec152">byMotion</a>
 </li>
+<li>save_dir
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html#a13add80719a6702ceb6fef9d0d670f6e">Surveillance.deployment.Base</a>
+</li>
 <li>save_file_path
 : <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a5b17a751399fad52e839be60093f8bad">scripts.d435_record_rosbag_dev</a>
 , <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a5b17a751399fad52e839be60093f8bad">scripts.vid_compress_bag</a>
@@ -93,6 +96,10 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>shape_classification()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a8979ba1d83427575ad94e4e1350c61b9">puzzle.utils.sideExtractor</a>
 </li>
+<li>shell
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">Surveillance.deployment.ROS.rosbag_data_recorder</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>sideExtractor()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#acc5798ece38fbdd15e907ab9179d82f3">puzzle.utils.sideExtractor</a>
 </li>
@@ -114,6 +121,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>str
 : <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a4b99ff73a8a869319570237b5c57ab03">scripts.vid_compress_bag</a>
 </li>
+<li>strtobool()
+: <a class="el" href="namespaceivapy_1_1helper.html#a3f8a2151cc8ea143b2e5a86839cf6869">ivapy.helper</a>
+</li>
 <li>success
 : <a class="el" href="namespacescripts_1_1d435__record.html#ac6ee8d13bf1e292b3c1660a66e846fa7">scripts.d435_record</a>
 , <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#ac6ee8d13bf1e292b3c1660a66e846fa7">scripts.d435_record_rosbag_dev</a>
@@ -121,6 +131,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>suptitle
 : <a class="el" href="namespacecamera_1_1utils_1_1display.html#ab5fd5a95b1d082124c8718ec9f9c99fc">camera.utils.display</a>
 </li>
+<li>survelliance_system
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#aec9631c3f0aed2255eac10a36ed957f8">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/namespacemembers_t.html b/docs/namespacemembers_t.html
index 791fde7b..8f0f23fd 100644
--- a/docs/namespacemembers_t.html
+++ b/docs/namespacemembers_t.html
@@ -71,9 +71,30 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 <li>target_folder
 : <a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">puzzle.runner</a>
 </li>
+<li>target_list
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a26273aaa2b70fd876810a0a53b8c7108">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>terminate_process_and_children()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a8f7450eba4afc02e018b58553d9dc863">Surveillance.deployment.utils</a>
+</li>
+<li>test_activity_topic
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a17ef2ddb9aa195e6d2d6fcdc5d5ad797">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>test_dep_topic
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ab857d495188047a465cac9c75b9b5cea">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>test_rgb_topic
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4112567f92890b58522a60155e2bd257">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
 <li>thePercent
 : <a class="el" href="namespacepuzzle_1_1runner.html#a6016e9125171356854e2a9fd66878c03">puzzle.runner</a>
 </li>
+<li>timestamp_beginning
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ad520fe067081cd5871a78fbd5906b77a">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>timestamp_ending
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+</li>
 <li>tipFromBottom()
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+<li>vid_path
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+<tr class="memdesc:a9564a000752268a38828146005b80283"><td class="mdescLeft">&#160;</td><td class="mdescRight">Preprocess the RGB image of a segmented puzzle piece in a circle area to obtain a mask.  <a href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a9564a000752268a38828146005b80283">More...</a><br /></td></tr>
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 <tr class="memitem:a350b60c8d8dd4ab76e00479c86c0a539"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a350b60c8d8dd4ab76e00479c86c0a539">rotate_im</a> (image, angle, mask=None)</td></tr>
+<tr class="memdesc:a350b60c8d8dd4ab76e00479c86c0a539"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate rotated image and return working elements of it.  <a href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a350b60c8d8dd4ab76e00479c86c0a539">More...</a><br /></td></tr>
 <tr class="separator:a350b60c8d8dd4ab76e00479c86c0a539"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c7390f02b518ca95305922ce094b596"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a6c7390f02b518ca95305922ce094b596">rotate_nd</a> (image, angle, mask=None)</td></tr>
+<tr class="memdesc:a6c7390f02b518ca95305922ce094b596"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate rotated image and return working elements of it.  <a href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a6c7390f02b518ca95305922ce094b596">More...</a><br /></td></tr>
+<tr class="separator:a6c7390f02b518ca95305922ce094b596"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a9c7458be2427dc2089cec4aefd752c23"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a9c7458be2427dc2089cec4aefd752c23">white_balance</a> (img)</td></tr>
 <tr class="separator:a9c7458be2427dc2089cec4aefd752c23"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
@@ -117,15 +124,11 @@ <h2 class="memtitle"><span class="permalink"><a href="#abc17991b315d81be2b6e2605
         </tr>
       </table>
 </div><div class="memdoc">
-<pre class="fragment">@brief  Crop and resize a cover image, which has the same shape with the mask.
 
-Args:
-    image: The source image.
-    template: The mask image.
+<p>Crop and resize a cover image, which has the same shape with the mask. </p>
+<p>Args: image: The source image. template: The mask image.</p>
+<p>Returns: The resized image. </p>
 
-Returns:
-    The resized image.
-</pre> 
 </div>
 </div>
 <a id="a0bd53163c13ea4dab4cefe4810f83f2d"></a>
@@ -179,18 +182,20 @@ <h2 class="memtitle"><span class="permalink"><a href="#a4226003f3aa87494cc657c60
         </tr>
       </table>
 </div><div class="memdoc">
-<pre class="fragment">@brief Extract the coordinates of the non-zero elements (x,y style) from a mask image
 
-Args:
-    mask: The input mask image with 0 or 1
+<p>Extract the coordinates of the non-zero elements (x,y style) from a mask image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>Input mask image with 0 or 1</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>rcoords Coordinates of the non-zero elements (x,y) style </dd></dl>
 
-Returns:
-    rcoords: The coordinates of the non-zero elements (x,y style)
-</pre> 
 </div>
 </div>
-<a id="a603976dfb5aa44fd5bda3af588880498"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a603976dfb5aa44fd5bda3af588880498">&#9670;&nbsp;</a></span>preprocess_real_puzzle()</h2>
+<a id="a812d390a0d2124264ad51b0b0dfb54b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a812d390a0d2124264ad51b0b0dfb54b1">&#9670;&nbsp;</a></span>preprocess_real_puzzle()</h2>
 
 <div class="memitem">
 <div class="memproto">
@@ -229,7 +234,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a603976dfb5aa44fd5bda3af5
           <td class="paramkey"></td>
           <td></td>
           <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>cannyThresh</em> = <code>(30,&#160;50)</code>, </td>
+          <td class="paramname"><em>cannyThresh</em> = <code>(30,&#160;60)</code>, </td>
         </tr>
         <tr>
           <td class="paramkey"></td>
@@ -253,7 +258,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a603976dfb5aa44fd5bda3af5
 
 <p>Preprocess the RGB image of a segmented puzzle piece in a circle area to obtain a mask. </p>
 <p>Note that the threshold is very important. It requires having prior knowledge.</p>
-<p>Implementation was changed. It might actuall work for multiple puzzles on the workmat based on flood filling operation. Will recover binary mark that gets individual pieces assuming none are touching. If touching, then grabbed as an entity.</p>
+<p>Implementation was changed. It might actually work for multiple puzzles on the workmat based on flood filling operation. Will recover binary mark that gets individual pieces assuming none are touching. If touching, then grabbed as an entity.</p>
+<p>Limited testing was done to confirm functionality of the revised implementation. It seems to work, but can sometimes fail to match though other processing may lead to a match.</p>
 <dl class="params"><dt>Parameters</dt><dd>
   <table class="params">
     <tr><td class="paramdir">[in]</td><td class="paramname">img</td><td>RGB image input. </td></tr>
@@ -320,20 +326,22 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9564a000752268a388281460
         </tr>
       </table>
 </div><div class="memdoc">
-<pre class="fragment">@brief Preprocess the RGB image of a segmented puzzle piece in a circle area to obtain a mask.
-Todo: Maybe we can combine preprocess_real_puzzle and preprocess_synthetic_puzzle together
 
-Args:
-    img: RGB image input.
-    mask: Mask image input.
-    areaThresholdLower: The lower threshold of the area.
-    areaThresholdUpper: The upper threshold of the area.
-    cannyThresh: The threshold for canny.
-    verbose: The flag of whether to debug.
+<p>Preprocess the RGB image of a segmented puzzle piece in a circle area to obtain a mask. </p>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000026">Todo:</a></b></dt><dd>Maybe can combine preprocess_real_puzzle and preprocess_synthetic_puzzle together?</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">img</td><td>RGB image input. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>Mask image input. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">areaThresholdLower</td><td>The lower threshold of the area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">areaThresholdUpper</td><td>The upper threshold of the area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cannyThresh</td><td>The threshold for canny. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">verbose</td><td>The flag of whether to debug.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>seg_img_combined Mask region list. </dd></dl>
 
-Returns:
-    seg_img_combined: The mask region list.
-</pre> 
 </div>
 </div>
 <a id="a350b60c8d8dd4ab76e00479c86c0a539"></a>
@@ -367,16 +375,67 @@ <h2 class="memtitle"><span class="permalink"><a href="#a350b60c8d8dd4ab76e00479c
         </tr>
       </table>
 </div><div class="memdoc">
-<pre class="fragment">@brief Compute the rotated image. See https://stackoverflow.com/a/47290920/5269146.
-(clockwise)
 
-Args:
-    image: The input image.
-    angle: The rotated angle.
+<p>Generate rotated image and return working elements of it. </p>
+<p>See <a href="https://stackoverflow.com/a/47290920/5269146">code example</a>. (clockwise)</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">image</td><td>Input image. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">angle</td><td>Rotation angle. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>Optional mask to rotate also.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>rotResults A tuple of: rotated image (cropped) &amp; rotated image (not cropped) &amp; the rotation matrix &amp; padding_left &amp; padding_top. </dd></dl>
+
+</div>
+</div>
+<a id="a6c7390f02b518ca95305922ce094b596"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c7390f02b518ca95305922ce094b596">&#9670;&nbsp;</a></span>rotate_nd()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.rotate_nd </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>image</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>angle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Generate rotated image and return working elements of it. </p>
+<p>This code is from the <a href="https://stackoverflow.com/questions/43892506/opencv-python-rotate-image-without-cropping-sides/47290920#47290920">stackoverflow solution</a> for an OpenCV non-cropping image rotation. Someone provided a scipiy ndimage version as a solution too. <br  />
+</p>
+<p>The image and the mask should be the same dimension. No checking for that being the case. Outer scope should deal with ensuring match or dealing with mismatch.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">image</td><td>Input image. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">angle</td><td>Rotation angle (in degrees). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>Optional mask to rotate also.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>rotResults Either the rotate image or a tuple of rotated image and mask. </dd></dl>
 
-Returns:
-    The rotated image (cropped) &amp; The rotated image (not cropped) &amp; the rotation matrix &amp; padding_left &amp; padding_top.
-</pre> 
 </div>
 </div>
 <a id="a9c7458be2427dc2089cec4aefd752c23"></a>
diff --git a/docs/namespaces.html b/docs/namespaces.html
index a6cd9e79..37653541 100644
--- a/docs/namespaces.html
+++ b/docs/namespaces.html
@@ -67,7 +67,7 @@
 </div><!--header-->
 <div class="contents">
 <div class="textblock">Here are the packages with brief descriptions (if available):</div><div class="directory">
-<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span>]</div><table class="directory">
 <tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacebyMotion.html" target="_self">byMotion</a></td><td class="desc">Implements activity detectors based on movement (or lack of) </td></tr>
 <tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacebyRegion.html" target="_self">byRegion</a></td><td class="desc">Activities defined by regions. Signal must lie in a region to trigger associated state </td></tr>
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@@ -121,85 +121,124 @@
 <tr id="row_12_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_12_" class="arrow" onclick="toggleFolder('12_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceivapy.html" target="_self">ivapy</a></td><td class="desc"></td></tr>
 <tr id="row_12_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceivapy_1_1Configuration.html" target="_self">Configuration</a></td><td class="desc"></td></tr>
 <tr id="row_12_1_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceivapy_1_1display__cv.html" target="_self">display_cv</a></td><td class="desc"></td></tr>
-<tr id="row_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacemoments.html" target="_self">moments</a></td><td class="desc"></td></tr>
-<tr id="row_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepaths.html" target="_self">paths</a></td><td class="desc">Simple path generation for testing signals </td></tr>
-<tr id="row_15_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepca.html" target="_self">pca</a></td><td class="desc"></td></tr>
-<tr id="row_16_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_16_" class="arrow" onclick="toggleFolder('16_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver.html" target="_self">perceiver</a></td><td class="desc"></td></tr>
-<tr id="row_16_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1builders.html" target="_self">builders</a></td><td class="desc"></td></tr>
-<tr id="row_16_1_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1coloBlob.html" target="_self">coloBlob</a></td><td class="desc"></td></tr>
-<tr id="row_16_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1colorHeight.html" target="_self">colorHeight</a></td><td class="desc"></td></tr>
-<tr id="row_16_3_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1monitor.html" target="_self">monitor</a></td><td class="desc"></td></tr>
-<tr id="row_16_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1perceiver.html" target="_self">perceiver</a></td><td class="desc"></td></tr>
-<tr id="row_16_5_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1progress.html" target="_self">progress</a></td><td class="desc"></td></tr>
-<tr id="row_16_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1reporting.html" target="_self">reporting</a></td><td class="desc"></td></tr>
-<tr id="row_16_7_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1simple.html" target="_self">simple</a></td><td class="desc"></td></tr>
-<tr id="row_17_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_17_" class="arrow" onclick="toggleFolder('17_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle.html" target="_self">puzzle</a></td><td class="desc"></td></tr>
-<tr id="row_17_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1board.html" target="_self">board</a></td><td class="desc">A base representation for a puzzle board, which is basically a collection of pieces. Gets used in many different ways </td></tr>
-<tr id="row_17_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_17_1_" class="arrow" onclick="toggleFolder('17_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1builder.html" target="_self">builder</a></td><td class="desc"></td></tr>
-<tr id="row_17_1_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html" target="_self">adjacent</a></td><td class="desc">This type of puzzle is simply a set of shapes arranged at specific locations with adjacency permitted. Touching or very close proximity should hold for most or all pieces </td></tr>
-<tr id="row_17_1_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html" target="_self">arrangement</a></td><td class="desc">This type of puzzle is simply a set of shapes arranged at specific locations in the image with no occlusion or overlap. Touching is not necessary (typically not the case) </td></tr>
-<tr id="row_17_1_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1builder_1_1gridded.html" target="_self">gridded</a></td><td class="desc">An interlocking puzzle for which the pieces are arranged in a nice gridded manner with a rectangular shape when complete </td></tr>
-<tr id="row_17_1_3_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1builder_1_1interlocking.html" target="_self">interlocking</a></td><td class="desc">This type of puzzle is simply a set of shapes arranged at specific locations that should actually interlock. Placement for them is less forgiving. In principle, they need to fit together </td></tr>
-<tr id="row_17_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_17_2_" class="arrow" onclick="toggleFolder('17_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1clusters.html" target="_self">clusters</a></td><td class="desc"></td></tr>
-<tr id="row_17_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html" target="_self">byColor</a></td><td class="desc">Extract color features for all the pieces in a given puzzle board </td></tr>
-<tr id="row_17_2_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1clusters_1_1byShape.html" target="_self">byShape</a></td><td class="desc">Extract shape features for all the pieces in a given puzzle board </td></tr>
-<tr id="row_17_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1defaults.html" target="_self">defaults</a></td><td class="desc"></td></tr>
-<tr id="row_17_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1manager.html" target="_self">manager</a></td><td class="desc">Manage the tracking of puzzle pieces </td></tr>
-<tr id="row_17_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1old__board.html" target="_self">old_board</a></td><td class="desc"></td></tr>
-<tr id="row_17_6_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1old__template.html" target="_self">old_template</a></td><td class="desc"></td></tr>
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-<tr id="row_18_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacescripts_1_1vid__compress__bag.html" target="_self">vid_compress_bag</a></td><td class="desc"></td></tr>
-<tr id="row_18_5_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacescripts_1_1vid__playback.html" target="_self">vid_playback</a></td><td class="desc"></td></tr>
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-<tr id="row_20_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1centroid.html" target="_self">centroid</a></td><td class="desc"></td></tr>
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-<tr id="row_20_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1toplines.html" target="_self">toplines</a></td><td class="desc"></td></tr>
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-<tr id="row_20_3_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1utils_1_1fakeTriangle.html" target="_self">fakeTriangle</a></td><td class="desc"></td></tr>
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+<tr id="row_16_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1builders.html" target="_self">builders</a></td><td class="desc"></td></tr>
+<tr id="row_16_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1coloBlob.html" target="_self">coloBlob</a></td><td class="desc"></td></tr>
+<tr id="row_16_2_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1colorHeight.html" target="_self">colorHeight</a></td><td class="desc"></td></tr>
+<tr id="row_16_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1monitor.html" target="_self">monitor</a></td><td class="desc"></td></tr>
+<tr id="row_16_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1perceiver.html" target="_self">perceiver</a></td><td class="desc"></td></tr>
+<tr id="row_16_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceperceiver_1_1progress.html" target="_self">progress</a></td><td class="desc"></td></tr>
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+<li class="navelem"><a class="el" href="dir_577b79aa997aea6169c72f94892281b5.html">puzzle_solver</a></li><li class="navelem"><a class="el" href="dir_d8b87518a909ed7914d59411139e3cfb.html">testing</a></li><li class="navelem"><a class="el" href="dir_8f2212e69dd617e50afd29c01a896b4f.html">pieces</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">real05sift.py File Reference<div class="ingroups"><a class="el" href="group__TestPuzzleSolver.html">Puzzle Solver</a> &raquo; <a class="el" href="group__TestPuzzle__Tracking.html">Puzzle Tracking</a></div></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Testing SIFT on more involved puzzle piece comparison. Pieces are not in same place in both boards, but differ.  
+<a href="#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Testing SIFT on more involved puzzle piece comparison. Pieces are not in same place in both boards, but differ. </p>
+<dl class="section author"><dt>Author</dt><dd>Patricio A. Vela <a href="#" onclick="location.href='mai'+'lto:'+'pve'+'la'+'@ga'+'te'+'ch.'+'ed'+'u'; return false;">pvela<span style="display: none;">.nosp@m.</span>@gat<span style="display: none;">.nosp@m.</span>ech.e<span style="display: none;">.nosp@m.</span>du</a></dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2024/11/01 [created from real04sift]</dd></dl>
+<p>================================= real05sift ================================ </p>
+</div></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+   <div id="projectbrief">Collection of test code for IVALab Python Libraries.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">real06sift.py File Reference<div class="ingroups"><a class="el" href="group__TestPuzzleSolver.html">Puzzle Solver</a> &raquo; <a class="el" href="group__TestPuzzle__Tracking.html">Puzzle Tracking</a></div></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Board Correspondences using SIFT.  
+<a href="#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Board Correspondences using SIFT. </p>
+<p>Since the two boards were captured under different visual settings, this script can have a missed match. Whether it will or not depends on whether there is a further check to reject pooor matches. That will involve the forceMatches option. If it is true, then the source pieces will be forced to match when associated. If it is false, then the association will be tested against the matchers internal decision classifier to accept or reject the match. In essence it performs assignment verification.</p>
+<p>Forcing matches operates independently of the garbage class option. Both can be enabled and have the parameters set such a non-garbage assignment can be estimated but then the match check can fail and reject the assignment. How they operate depends on the scoring thresholds for the garbage class and for accepting a match. Having properly differentiated treshold values can lead to assignment verification.</p>
+<blockquote class="doxtable">
+<p>./real06sift ./real06sift &ndash;withMatches=True ./real06sift &ndash;withMatches=False </p>
+</blockquote>
+<dl class="section author"><dt>Author</dt><dd>Devesh Nath <a href="#" onclick="location.href='mai'+'lto:'+'dna'+'th'+'7@g'+'at'+'ech'+'.e'+'du'; return false;">dnath<span style="display: none;">.nosp@m.</span>7@ga<span style="display: none;">.nosp@m.</span>tech.<span style="display: none;">.nosp@m.</span>edu</a></dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2024/11/09 [created from real05sift]</dd></dl>
+<p>================================= real06sift ================================ </p>
+</div></div><!-- contents -->
+<!-- start footer part -->
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 ];
diff --git a/docs/tests/search/all_b.js b/docs/tests/search/all_b.js
index 2cc2d3bb..63370f0c 100644
--- a/docs/tests/search/all_b.js
+++ b/docs/tests/search/all_b.js
@@ -1,4 +1,4 @@
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diff --git a/docs/tests/search/classes_0.js b/docs/tests/search/classes_0.js
index 4b8c2951..820fd88a 100644
--- a/docs/tests/search/classes_0.js
+++ b/docs/tests/search/classes_0.js
@@ -1,5 +1,5 @@
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diff --git a/docs/tests/search/classes_1.js b/docs/tests/search/classes_1.js
index 4ef7d90a..975981de 100644
--- a/docs/tests/search/classes_1.js
+++ b/docs/tests/search/classes_1.js
@@ -1,4 +1,4 @@
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+  ['imagelistener_83',['ImageListener',['../classreal__runnerROS_1_1ImageListener.html',1,'real_runnerROS']]]
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diff --git a/docs/tests/search/classes_2.js b/docs/tests/search/classes_2.js
index ea507e11..0cece4af 100644
--- a/docs/tests/search/classes_2.js
+++ b/docs/tests/search/classes_2.js
@@ -1,4 +1,4 @@
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-  ['survrunner_82',['SurvRunner',['../classsurvRunner_1_1SurvRunner.html',1,'survRunner']]]
+  ['survrunner_84',['SurvRunner',['../classsurvRunner_1_1SurvRunner.html',1,'survRunner']]]
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diff --git a/docs/tests/search/files_0.js b/docs/tests/search/files_0.js
index f30c0a83..ba55ca5d 100644
--- a/docs/tests/search/files_0.js
+++ b/docs/tests/search/files_0.js
@@ -1,6 +1,6 @@
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+  ['activity01regions_2epy_89',['activity01regions.py',['../activity01regions_8py.html',1,'']]],
+  ['activity02regions_2epy_90',['activity02regions.py',['../activity02regions_8py.html',1,'']]],
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diff --git a/docs/tests/search/files_1.js b/docs/tests/search/files_1.js
index 8b43ed0d..8670bced 100644
--- a/docs/tests/search/files_1.js
+++ b/docs/tests/search/files_1.js
@@ -1,16 +1,16 @@
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-  ['bg02_5fcvgmm_2epy_102',['bg02_cvGMM.py',['../bg02__cvGMM_8py.html',1,'']]]
+  ['basic01template_2epy_92',['basic01template.py',['../basic01template_8py.html',1,'']]],
+  ['basic02_5fparser_2epy_93',['basic02_parser.py',['../basic02__parser_8py.html',1,'']]],
+  ['basic02moments_2epy_94',['basic02moments.py',['../basic02moments_8py.html',1,'']]],
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+  ['basic04regular_2epy_97',['basic04regular.py',['../basic04regular_8py.html',1,'']]],
+  ['basic05edge_2epy_98',['basic05edge.py',['../basic05edge_8py.html',1,'']]],
+  ['basic06histogram_2epy_99',['basic06histogram.py',['../basic06histogram_8py.html',1,'']]],
+  ['basic07histogram_2epy_100',['basic07histogram.py',['../basic07histogram_8py.html',1,'']]],
+  ['basic08sift_2epy_101',['basic08sift.py',['../basic08sift_8py.html',1,'']]],
+  ['basic09sift_2epy_102',['basic09sift.py',['../basic09sift_8py.html',1,'']]],
+  ['bg01_5feva_2epy_103',['bg01_Eva.py',['../bg01__Eva_8py.html',1,'']]],
+  ['bg02_5fcvgmm_2epy_104',['bg02_cvGMM.py',['../bg02__cvGMM_8py.html',1,'']]]
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diff --git a/docs/tests/search/files_2.js b/docs/tests/search/files_2.js
index 041c8d31..f7888dfc 100644
--- a/docs/tests/search/files_2.js
+++ b/docs/tests/search/files_2.js
@@ -1,9 +1,9 @@
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-  ['editor06pilot_2epy_108',['editor06pilot.py',['../editor06pilot_8py.html',1,'']]]
+  ['editor01simple_2epy_105',['editor01simple.py',['../editor01simple_8py.html',1,'']]],
+  ['editor02commentary_2epy_106',['editor02commentary.py',['../editor02commentary_8py.html',1,'']]],
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+  ['editor05csv_2epy_109',['editor05csv.py',['../editor05csv_8py.html',1,'']]],
+  ['editor06pilot_2epy_110',['editor06pilot.py',['../editor06pilot_8py.html',1,'']]]
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diff --git a/docs/tests/search/files_3.js b/docs/tests/search/files_3.js
index 9e143aac..7fe3dae0 100644
--- a/docs/tests/search/files_3.js
+++ b/docs/tests/search/files_3.js
@@ -1,5 +1,5 @@
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diff --git a/docs/tests/search/files_4.js b/docs/tests/search/files_4.js
index f368645b..805a14e9 100644
--- a/docs/tests/search/files_4.js
+++ b/docs/tests/search/files_4.js
@@ -1,16 +1,16 @@
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+  ['inimage03saveload_2epy_124',['inimage03saveload.py',['../inimage03saveload_8py.html',1,'']]],
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diff --git a/docs/tests/search/files_5.js b/docs/tests/search/files_5.js
index 15dd2672..47fd0f81 100644
--- a/docs/tests/search/files_5.js
+++ b/docs/tests/search/files_5.js
@@ -1,6 +1,6 @@
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-  ['move03filter_2epy_126',['move03filter.py',['../move03filter_8py.html',1,'']]]
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diff --git a/docs/tests/search/files_6.js b/docs/tests/search/files_6.js
index fbbe4582..ce5eea74 100644
--- a/docs/tests/search/files_6.js
+++ b/docs/tests/search/files_6.js
@@ -1,4 +1,4 @@
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+  ['occupancy01basics_2epy_129',['occupancy01basics.py',['../occupancy01basics_8py.html',1,'']]]
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diff --git a/docs/tests/search/files_7.js b/docs/tests/search/files_7.js
index 69b80935..8f6196ff 100644
--- a/docs/tests/search/files_7.js
+++ b/docs/tests/search/files_7.js
@@ -1,10 +1,12 @@
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+  ['report03float_2epy_137',['report03float.py',['../report03float_8py.html',1,'']]],
+  ['report04csv_2epy_138',['report04csv.py',['../report04csv_8py.html',1,'']]]
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diff --git a/docs/tests/search/files_8.js b/docs/tests/search/files_8.js
index 1f8ec9ef..b2e56e4d 100644
--- a/docs/tests/search/files_8.js
+++ b/docs/tests/search/files_8.js
@@ -1,10 +1,10 @@
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diff --git a/docs/tests/search/functions_0.js b/docs/tests/search/functions_0.js
index 6504431b..436f0876 100644
--- a/docs/tests/search/functions_0.js
+++ b/docs/tests/search/functions_0.js
@@ -1,4 +1,4 @@
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diff --git a/docs/tests/search/groups_0.js b/docs/tests/search/groups_0.js
index ac60c81e..48733767 100644
--- a/docs/tests/search/groups_0.js
+++ b/docs/tests/search/groups_0.js
@@ -1,5 +1,5 @@
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+  ['activity_20detection_148',['Activity Detection',['../group__TestDet__Activity.html',1,'']]],
+  ['activity_20monitor_149',['Activity Monitor',['../group__TestMonitor.html',1,'']]]
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diff --git a/docs/tests/search/groups_1.js b/docs/tests/search/groups_1.js
index 2d33607c..9f2466bc 100644
--- a/docs/tests/search/groups_1.js
+++ b/docs/tests/search/groups_1.js
@@ -1,4 +1,4 @@
 var searchData=
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+  ['detector_150',['Detector',['../group__TestDetector.html',1,'']]]
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diff --git a/docs/tests/search/groups_2.js b/docs/tests/search/groups_2.js
index 4a448f8f..a88334c1 100644
--- a/docs/tests/search/groups_2.js
+++ b/docs/tests/search/groups_2.js
@@ -1,9 +1,9 @@
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-  ['puzzle_20solver_152',['Puzzle Solver',['../group__TestPuzzleSolver.html',1,'']]]
+  ['perceiver_151',['Perceiver',['../group__TestPerceiver.html',1,'']]],
+  ['progress_20monitor_152',['Progress Monitor',['../group__TestProgress.html',1,'']]],
+  ['puzzle_20clustering_153',['Puzzle Clustering',['../group__TestPuzzle__Clusters.html',1,'']]],
+  ['puzzle_20tracking_154',['Puzzle Tracking',['../group__TestPuzzle__Tracking.html',1,'']]],
+  ['puzzle_20types_155',['Puzzle Types',['../group__TestPuzzle__Types.html',1,'']]],
+  ['puzzle_20solver_156',['Puzzle Solver',['../group__TestPuzzleSolver.html',1,'']]]
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diff --git a/docs/tests/search/namespaces_0.js b/docs/tests/search/namespaces_0.js
index 3061709f..02ed8beb 100644
--- a/docs/tests/search/namespaces_0.js
+++ b/docs/tests/search/namespaces_0.js
@@ -1,6 +1,6 @@
 var searchData=
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+  ['real_5frunnerros_85',['real_runnerROS',['../namespacereal__runnerROS.html',1,'']]],
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diff --git a/docs/tests/search/namespaces_1.js b/docs/tests/search/namespaces_1.js
index 8cb2d335..68dfa448 100644
--- a/docs/tests/search/namespaces_1.js
+++ b/docs/tests/search/namespaces_1.js
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diff --git a/docs/tests/search/pages_0.js b/docs/tests/search/pages_0.js
index 6308ec1d..66023ccb 100644
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index b92b38ee..43c54e1f 100644
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+  ['ivapylibs_20_5bunit_5d_20test_20scripts_158',['IVAPyLibs [Unit] Test Scripts',['../index.html',1,'']]]
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diff --git a/docs/tests/search/pages_2.js b/docs/tests/search/pages_2.js
index 2071ad39..084cb37a 100644
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diff --git a/docs/tests/search/pages_3.js b/docs/tests/search/pages_3.js
index a8c8e1db..27d3464f 100644
--- a/docs/tests/search/pages_3.js
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+  ['readme_160',['README',['../md__home_mary_python_puzzle_solver_testing_core_README.html',1,'']]]
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diff --git a/docs/tests/search/pages_4.js b/docs/tests/search/pages_4.js
index 74f2c53e..59260beb 100644
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+  ['single_20gaussian_20depth_20image_20modeling_2e_161',['Single Gaussian depth image modeling.',['../md__home_mary_python_detector_testing_bgmodel_CONTENTS.html',1,'']]]
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diff --git a/docs/tests/search/pages_5.js b/docs/tests/search/pages_5.js
index b56213e8..d48f5f8a 100644
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@@ -1,4 +1,4 @@
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diff --git a/docs/tests/search/variables_0.js b/docs/tests/search/variables_0.js
index dbb04a5f..0cb4bce7 100644
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+  ['surv_147',['surv',['../classsurvRunner_1_1SurvRunner.html#a641753925b907a8d61d483c035abe01d',1,'survRunner::SurvRunner']]]
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diff --git a/docs/tests/sgm03color_8py.html b/docs/tests/sgm03color_8py.html
index 114c0567..8ef02a80 100644
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+<title>Testing of IVALab Python Libraries: /home/mary/python/detector/testing/bgmodel/sgm03color.py File Reference</title>
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diff --git a/docs/tests/sgm04hsv_8py.html b/docs/tests/sgm04hsv_8py.html
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+<title>Testing of IVALab Python Libraries: /home/mary/python/detector/testing/bgmodel/sgm04hsv.py File Reference</title>
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 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/tests/simple01graybox_8py.html b/docs/tests/simple01graybox_8py.html
index b667a873..aa6628da 100644
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 <script type="text/javascript" src="jquery.js"></script>
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diff --git a/docs/tests/simple02magentadot_8py.html b/docs/tests/simple02magentadot_8py.html
index ae0f801b..2fc7d908 100644
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+<title>Testing of IVALab Python Libraries: /home/mary/python/perceiver/testing/simple02magentadot.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
diff --git a/docs/tests/simple03magentabag_8py.html b/docs/tests/simple03magentabag_8py.html
index 89da1363..747e5a4c 100644
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+<title>Testing of IVALab Python Libraries: /home/mary/python/perceiver/testing/simple03magentabag.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
diff --git a/docs/todo.html b/docs/todo.html
index 6e05c189..a03a874c 100644
--- a/docs/todo.html
+++ b/docs/todo.html
@@ -69,6 +69,10 @@
 <div class="textblock"><dl class="reflist">
 <dt>Class <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html">boardPerceive</a>  </dt>
 <dd><a class="anchor" id="_todo000020"></a>Create complete implementation with track filter.  </dd>
+<dt>Member <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator.adapt</a>  (self)</dt>
+<dd><a class="anchor" id="_todo000028"></a>Figure out proper approach here.  </dd>
+<dt>Member <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator.adapt</a>  (self)</dt>
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 <dt>Member <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#af1af6ddf04f00f958949618f79c33b82">Color.start</a>  (self)</dt>
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@@ -77,6 +81,8 @@
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 <dd><a class="anchor" id="_todo000006"></a>Should implement start/stop functionality and capture boolean.  </dd>
+<dt>Member <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">Detectors.imGlove</a>  </dt>
+<dd><a class="anchor" id="_todo000030"></a>Figure out how to use the improcessor.  </dd>
 <dt>Class <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a>  </dt>
 <dd><a class="anchor" id="_todo000024"></a>Need to confirm that works. [2024/10/20 - PAV]  </dd>
 <dt>Class <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html">fgGaussian</a>  </dt>
@@ -103,6 +109,10 @@
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 <dt>Namespace <a class="el" href="namespacepuzzle_1_1parser_1_1fromSketch.html">puzzle.parser.fromSketch</a>  </dt>
 <dd><a class="anchor" id="_todo000019"></a>Not fully developed yet. </dd>
+<dt>Member <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a9564a000752268a38828146005b80283">puzzle::utils::imageProcessing.preprocess_synthetic_puzzle</a>  (img, mask=None, areaThresholdLower=1000, areaThresholdUpper=8000, cannyThresh=(20, 80), verbose=False)</dt>
+<dd><a class="anchor" id="_todo000026"></a>Maybe can combine preprocess_real_puzzle and preprocess_synthetic_puzzle together? </dd>
+<dt>Member <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">PuzzlePerceiver.predict</a>  (self)</dt>
+<dd><a class="anchor" id="_todo000027"></a>Later on, there should be a code review and some unification of code and intent should be done.  </dd>
 <dt>Member <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#ade40fe3b7a3ac5e2ccb70008c0e53d89">Regular.setEdgeType</a>  (self, direction, etype)</dt>
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diff --git a/docs/toplines_8py.html b/docs/toplines_8py.html
index 0eabc95d..d41a8f3b 100644
--- a/docs/toplines_8py.html
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/trackpointer/toplines.py File Reference</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
diff --git a/docs/trackpointer_2README_8md.html b/docs/trackpointer_2README_8md.html
index a98d5866..20a1ea0b 100644
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/README.md File Reference</title>
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 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
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 <div class="header">
   <div class="headertitle">
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+<div class="title">/home/mary/python/trackpointer/README.md File Reference</div>  </div>
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 <div class="contents">
 </div><!-- contents -->
diff --git a/docs/trackpointer_2setup_8py.html b/docs/trackpointer_2setup_8py.html
index e66a48b7..8425ea88 100644
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/setup.py File Reference</title>
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 <script type="text/javascript" src="jquery.js"></script>
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index 0a9b035b..ba65dd2c 100644
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/trackpointer/__init__.py File Reference</title>
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 <script type="text/javascript" src="jquery.js"></script>
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index 1d54aba4..824a3fe3 100644
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/trackpointer/utils/__init__.py File Reference</title>
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 <script type="text/javascript" src="jquery.js"></script>
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index ca34f4e1..b6c1862f 100644
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/trackpointer.egg-info/SOURCES.txt File Reference</title>
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 <script type="text/javascript" src="dynsections.js"></script>
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+<div class="title">/home/mary/python/trackpointer/trackpointer.egg-info/SOURCES.txt File Reference</div>  </div>
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 <div class="contents">
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/trackpointer.egg-info/dependency_links.txt File Reference</title>
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 <div class="header">
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+<div class="title">/home/mary/python/trackpointer/trackpointer.egg-info/dependency_links.txt File Reference</div>  </div>
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 <div class="contents">
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+<title>IVALab Python Libraries: /home/mary/python/trackpointer/trackpointer.egg-info/requires.txt File Reference</title>
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@@ -63,7 +63,7 @@
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 <div class="header">
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+<div class="title">/home/mary/python/trackpointer/trackpointer.egg-info/requires.txt File Reference</div>  </div>
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 <div class="contents">
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diff --git a/docs/trackpointer_2trackpointer_8egg-info_2top__level_8txt.html b/docs/trackpointer_2trackpointer_8egg-info_2top__level_8txt.html
index 53005403..0cf90f41 100644
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